diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-30-19_846930886/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-30-19_846930886/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9fb024001dbfa70ce07e41923ea1c229c8163260
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-30-19_846930886/pose.jsonl
@@ -0,0 +1,743 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            4315.324599409684,
+            1064.4665829058097,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            4312.726523198331,
+            1065.9665829058097,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            4310.128446986978,
+            1067.4665829058097,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            4307.530370775625,
+            1068.9665829058097,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            4304.932294564272,
+            1070.4665829058097,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            4302.3342183529185,
+            1071.9665829058097,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            4299.736142141565,
+            1073.4665829058097,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            4297.138065930212,
+            1074.9665829058097,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            4294.539989718859,
+            1076.4665829058097,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            4291.941913507506,
+            1077.9665829058097,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            4289.343837296153,
+            1079.4665829058097,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            4286.7457610848,
+            1080.9665829058097,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            4284.147684873446,
+            1082.4665829058097,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            4281.549608662093,
+            1083.9665829058097,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            4278.95153245074,
+            1085.4665829058097,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            4276.353456239387,
+            1086.9665829058097,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            4273.755380028034,
+            1088.4665829058097,
+            46.36069536884438
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            4273.755380028034,
+            1088.4665829058097,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931673
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            4272.255380028034,
+            1091.064659117163,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            4270.755380028034,
+            1093.6627353285164,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            4269.255380028034,
+            1096.2608115398698,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            4267.755380028034,
+            1098.8588877512232,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            4266.255380028034,
+            1101.4569639625765,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            4264.755380028034,
+            1104.05504017393,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            4263.255380028034,
+            1106.6531163852833,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            4261.755380028034,
+            1109.2511925966367,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            4260.255380028034,
+            1111.84926880799,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            4258.755380028034,
+            1114.4473450193434,
+            46.36069536884438
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            4258.755380028034,
+            1114.4473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            4256.157303816681,
+            1115.9473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            4253.559227605328,
+            1117.4473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            4250.961151393974,
+            1118.9473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            4248.363075182621,
+            1120.4473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            4245.764998971268,
+            1121.9473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            4243.166922759915,
+            1123.4473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            4240.568846548562,
+            1124.9473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            4237.970770337209,
+            1126.4473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            4235.372694125856,
+            1127.9473450193434,
+            46.36069536884438
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            4235.372694125856,
+            1127.9473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535897647
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            4232.372694125856,
+            1127.9473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            4229.372694125856,
+            1127.9473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            4226.372694125856,
+            1127.9473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            4223.372694125856,
+            1127.9473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            4220.372694125856,
+            1127.9473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            4217.372694125856,
+            1127.9473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            4214.372694125856,
+            1127.9473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            4211.372694125856,
+            1127.9473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            4208.372694125856,
+            1127.9473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            4205.372694125856,
+            1127.9473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            4202.372694125856,
+            1127.9473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            4199.372694125856,
+            1127.9473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            4196.372694125856,
+            1127.9473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            4193.372694125856,
+            1127.9473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            4190.372694125856,
+            1127.9473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            4187.372694125856,
+            1127.9473450193434,
+            46.36069536884438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            4184.372694125856,
+            1127.9473450193434,
+            46.36069536884438
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            4160.0,
+            1140.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-32-27_424238335/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-32-27_424238335/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d06874c7fc6b3340de459bf0e9a781ad26278199
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-32-27_424238335/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -2183.937341911547,
+            1637.4935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -2186.5354181229,
+            1638.9935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -2189.133494334253,
+            1640.4935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -2191.7315705456062,
+            1641.9935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -2194.3296467569594,
+            1643.4935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -2196.9277229683125,
+            1644.9935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -2199.5257991796657,
+            1646.4935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -2202.123875391019,
+            1647.9935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -2204.721951602372,
+            1649.4935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -2207.320027813725,
+            1650.9935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -2209.9181040250783,
+            1652.4935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -2212.5161802364314,
+            1653.9935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -2215.1142564477846,
+            1655.4935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -2217.7123326591377,
+            1656.9935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -2220.310408870491,
+            1658.4935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -2222.908485081844,
+            1659.9935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -2225.506561293197,
+            1661.4935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -2228.1046375045503,
+            1662.9935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -2230.7027137159034,
+            1664.4935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -2233.3007899272566,
+            1665.9935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -2235.8988661386097,
+            1667.4935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -2238.496942349963,
+            1668.9935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -2241.095018561316,
+            1670.4935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -2243.693094772669,
+            1671.9935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -2246.2911709840223,
+            1673.4935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -2248.8892471953754,
+            1674.9935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -2251.4873234067286,
+            1676.4935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -2254.0853996180817,
+            1677.9935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -2256.683475829435,
+            1679.4935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -2259.281552040788,
+            1680.9935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -2261.879628252141,
+            1682.4935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -2264.4777044634943,
+            1683.9935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -2267.0757806748475,
+            1685.4935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -2269.6738568862006,
+            1686.9935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -2272.2719330975538,
+            1688.4935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -2274.870009308907,
+            1689.9935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -2277.46808552026,
+            1691.4935887269203,
+            40.2673107532347
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -2277.46808552026,
+            1691.4935887269203,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931673
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -2278.96808552026,
+            1694.0916649382737,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -2280.46808552026,
+            1696.689741149627,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -2281.96808552026,
+            1699.2878173609804,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -2283.46808552026,
+            1701.8858935723338,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -2284.96808552026,
+            1704.4839697836871,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -2286.46808552026,
+            1707.0820459950405,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -2287.96808552026,
+            1709.680122206394,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -2289.46808552026,
+            1712.2781984177473,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -2290.96808552026,
+            1714.8762746291006,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -2292.46808552026,
+            1717.474350840454,
+            40.2673107532347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -2293.96808552026,
+            1720.0724270518074,
+            40.2673107532347
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -2324.0,
+            1740.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-32-55_719885386/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-32-55_719885386/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..06948347df271b106f1dc69542d63d6b488da8a1
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-32-55_719885386/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            3708.037245213684,
+            1905.168032932967,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            3706.537245213684,
+            1902.5699567216136,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            3705.037245213684,
+            1899.9718805102602,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            3703.537245213684,
+            1897.3738042989069,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            3702.037245213684,
+            1894.7757280875535,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            3700.537245213684,
+            1892.1776518762001,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            3699.037245213684,
+            1889.5795756648467,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            3697.537245213684,
+            1886.9814994534934,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            3696.037245213684,
+            1884.38342324214,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            3694.537245213684,
+            1881.7853470307866,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            3693.037245213684,
+            1879.1872708194333,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            3691.537245213684,
+            1876.5891946080799,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            3690.037245213684,
+            1873.9911183967265,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            3688.537245213684,
+            1871.3930421853731,
+            68.38628183185354
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            3688.537245213684,
+            1871.3930421853731,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            3688.537245213684,
+            1868.3930421853731,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            3688.537245213684,
+            1865.3930421853731,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            3688.537245213684,
+            1862.3930421853731,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            3688.537245213684,
+            1859.3930421853731,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            3688.537245213684,
+            1856.3930421853731,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            3688.537245213684,
+            1853.3930421853731,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            3688.537245213684,
+            1850.3930421853731,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            3688.537245213684,
+            1847.3930421853731,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            3688.537245213684,
+            1844.3930421853731,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            3688.537245213684,
+            1841.3930421853731,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            3688.537245213684,
+            1838.3930421853731,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            3688.537245213684,
+            1835.3930421853731,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            3688.537245213684,
+            1832.3930421853731,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            3688.537245213684,
+            1829.3930421853731,
+            68.38628183185354
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            3688.537245213684,
+            1826.3930421853731,
+            68.38628183185354
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            3668.0,
+            1752.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-35-9_1350490027/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-35-9_1350490027/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e03d4ff2920c58aef515653e4634f2ab41a6ee96
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-35-9_1350490027/pose.jsonl
@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            418.98240096007424,
+            -1851.9043629964726,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            417.48240096007424,
+            -1849.3062867851193,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            415.98240096007424,
+            -1846.7082105737659,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            414.48240096007424,
+            -1844.1101343624125,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            412.98240096007424,
+            -1841.5120581510591,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            411.48240096007424,
+            -1838.9139819397058,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            409.98240096007424,
+            -1836.3159057283524,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            408.48240096007424,
+            -1833.717829516999,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            406.98240096007424,
+            -1831.1197533056456,
+            55.82007251566316
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            406.98240096007424,
+            -1831.1197533056456,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            404.3843247487209,
+            -1829.6197533056456,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            401.7862485373676,
+            -1828.1197533056456,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            399.1881723260143,
+            -1826.6197533056456,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            396.590096114661,
+            -1825.1197533056456,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            393.99201990330766,
+            -1823.6197533056456,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            391.39394369195435,
+            -1822.1197533056456,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            388.79586748060103,
+            -1820.6197533056456,
+            55.82007251566316
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            388.79586748060103,
+            -1820.6197533056456,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            385.79586748060103,
+            -1820.6197533056456,
+            55.82007251566316
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            385.79586748060103,
+            -1820.6197533056456,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            383.1977912692477,
+            -1819.1197533056456,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            380.5997150578944,
+            -1817.6197533056456,
+            55.82007251566316
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            380.5997150578944,
+            -1817.6197533056456,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            379.0997150578944,
+            -1815.0216770942923,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            377.5997150578944,
+            -1812.423600882939,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            376.0997150578944,
+            -1809.8255246715855,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            374.5997150578944,
+            -1807.2274484602322,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            373.0997150578944,
+            -1804.6293722488788,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            371.5997150578944,
+            -1802.0312960375254,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            370.0997150578944,
+            -1799.433219826172,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            368.5997150578944,
+            -1796.8351436148187,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            367.0997150578944,
+            -1794.2370674034653,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            365.5997150578944,
+            -1791.638991192112,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            364.0997150578944,
+            -1789.0409149807585,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            362.5997150578944,
+            -1786.4428387694052,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            361.0997150578944,
+            -1783.8447625580518,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            359.5997150578944,
+            -1781.2466863466984,
+            55.82007251566316
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            359.5997150578944,
+            -1781.2466863466984,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            359.5997150578944,
+            -1778.2466863466984,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            359.5997150578944,
+            -1775.2466863466984,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            359.5997150578944,
+            -1772.2466863466984,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            359.5997150578944,
+            -1769.2466863466984,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            359.5997150578944,
+            -1766.2466863466984,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            359.5997150578944,
+            -1763.2466863466984,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            359.5997150578944,
+            -1760.2466863466984,
+            55.82007251566316
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            359.5997150578944,
+            -1757.2466863466984,
+            55.82007251566316
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            336.0,
+            -1724.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-41-39_336465782/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-41-39_336465782/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..99fb2ff5a080826b67e12d58fdfe90670505bb4c
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-41-39_336465782/pose.jsonl
@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1680.2592997489414,
+            -286.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1677.661223537588,
+            -287.6161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1675.0631473262347,
+            -289.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1672.4650711148813,
+            -290.6161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1669.866994903528,
+            -292.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1667.2689186921746,
+            -293.6161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1664.6708424808212,
+            -295.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1662.0727662694678,
+            -296.6161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1659.4746900581144,
+            -298.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1656.876613846761,
+            -299.6161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1654.2785376354077,
+            -301.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1651.6804614240543,
+            -302.6161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1649.082385212701,
+            -304.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1646.4843090013476,
+            -305.6161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1643.8862327899942,
+            -307.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1641.2881565786408,
+            -308.6161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1638.6900803672875,
+            -310.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1636.092004155934,
+            -311.6161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1633.4939279445807,
+            -313.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1630.8958517332273,
+            -314.6161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1628.297775521874,
+            -316.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1625.6996993105206,
+            -317.6161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1623.1016230991672,
+            -319.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1620.5035468878139,
+            -320.6161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1617.9054706764605,
+            -322.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1615.307394465107,
+            -323.6161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1612.7093182537537,
+            -325.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1610.1112420424004,
+            -326.6161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1607.513165831047,
+            -328.1161451379988,
+            53.79012038961754
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1607.513165831047,
+            -328.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1604.513165831047,
+            -328.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1601.513165831047,
+            -328.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1598.513165831047,
+            -328.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1595.513165831047,
+            -328.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1592.513165831047,
+            -328.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1589.513165831047,
+            -328.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1586.513165831047,
+            -328.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1583.513165831047,
+            -328.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1580.513165831047,
+            -328.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1577.513165831047,
+            -328.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1574.513165831047,
+            -328.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1571.513165831047,
+            -328.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1568.513165831047,
+            -328.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1565.513165831047,
+            -328.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1562.513165831047,
+            -328.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1559.513165831047,
+            -328.1161451379988,
+            53.79012038961754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1556.513165831047,
+            -328.1161451379988,
+            53.79012038961754
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1532.0,
+            -336.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-44-35_1801979802/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-44-35_1801979802/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eb45066f5f2fdbb963e1e24983df005b5bb33bfd
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-44-35_1801979802/pose.jsonl
@@ -0,0 +1,743 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -2565.223208188713,
+            -394.96731493644995,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -2563.723208188713,
+            -392.36923872509664,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -2562.223208188713,
+            -389.7711625137433,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -2560.723208188713,
+            -387.17308630239,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -2559.223208188713,
+            -384.5750100910367,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -2557.723208188713,
+            -381.9769338796834,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -2556.223208188713,
+            -379.37885766833006,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -2554.723208188713,
+            -376.78078145697674,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -2553.223208188713,
+            -374.1827052456234,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -2551.723208188713,
+            -371.5846290342701,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -2550.223208188713,
+            -368.9865528229168,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -2548.723208188713,
+            -366.3884766115635,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -2547.223208188713,
+            -363.79040040021016,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -2545.723208188713,
+            -361.19232418885684,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -2544.223208188713,
+            -358.5942479775035,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -2542.723208188713,
+            -355.9961717661502,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -2541.223208188713,
+            -353.3980955547969,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -2539.723208188713,
+            -350.8000193434436,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -2538.223208188713,
+            -348.20194313209026,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -2536.723208188713,
+            -345.60386692073695,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -2535.223208188713,
+            -343.00579070938363,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -2533.723208188713,
+            -340.4077144980303,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -2532.223208188713,
+            -337.809638286677,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -2530.723208188713,
+            -335.2115620753237,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -2529.223208188713,
+            -332.61348586397037,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -2527.723208188713,
+            -330.01540965261705,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -2526.223208188713,
+            -327.41733344126374,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -2524.723208188713,
+            -324.8192572299104,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -2523.223208188713,
+            -322.2211810185571,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -2521.723208188713,
+            -319.6231048072038,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -2520.223208188713,
+            -317.0250285958505,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -2518.723208188713,
+            -314.42695238449716,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -2517.223208188713,
+            -311.82887617314384,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -2515.723208188713,
+            -309.2307999617905,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -2514.223208188713,
+            -306.6327237504372,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -2512.723208188713,
+            -304.0346475390839,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -2511.223208188713,
+            -301.4365713277306,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -2509.723208188713,
+            -298.83849511637726,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -2508.223208188713,
+            -296.24041890502394,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -2506.723208188713,
+            -293.6423426936706,
+            55.42068512924514
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -2506.723208188713,
+            -293.6423426936706,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -2504.12513197736,
+            -292.1423426936706,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -2501.527055766007,
+            -290.6423426936706,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -2498.928979554654,
+            -289.1423426936706,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -2496.3309033433006,
+            -287.6423426936706,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -2493.7328271319475,
+            -286.1423426936706,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -2491.1347509205943,
+            -284.6423426936706,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -2488.536674709241,
+            -283.1423426936706,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -2485.938598497888,
+            -281.6423426936706,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -2483.340522286535,
+            -280.1423426936706,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -2480.7424460751818,
+            -278.6423426936706,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -2478.1443698638286,
+            -277.1423426936706,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -2475.5462936524755,
+            -275.6423426936706,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -2472.9482174411223,
+            -274.1423426936706,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -2470.350141229769,
+            -272.6423426936706,
+            55.42068512924514
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -2467.752065018416,
+            -271.1423426936706,
+            55.42068512924514
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -2452.0,
+            -256.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-46-22_1125898167/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-46-22_1125898167/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3d3cd606ff1eb91d7c1fc760623aeb135faa9ca1
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-46-22_1125898167/pose.jsonl
@@ -0,0 +1,600 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            4577.922148913349,
+            1489.9911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            4575.324072701996,
+            1488.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            4572.7259964906425,
+            1486.9911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            4570.127920279289,
+            1485.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            4567.529844067936,
+            1483.9911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            4564.931767856583,
+            1482.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            4562.33369164523,
+            1480.9911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            4559.735615433877,
+            1479.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            4557.137539222524,
+            1477.9911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            4554.5394630111705,
+            1476.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            4551.941386799817,
+            1474.9911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            4549.343310588464,
+            1473.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            4546.745234377111,
+            1471.9911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            4544.147158165758,
+            1470.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            4541.549081954405,
+            1468.9911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            4538.951005743052,
+            1467.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            4536.3529295316985,
+            1465.9911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            4533.754853320345,
+            1464.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            4531.156777108992,
+            1462.9911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            4528.558700897639,
+            1461.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            4525.960624686286,
+            1459.9911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            4523.362548474933,
+            1458.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            4520.76447226358,
+            1456.9911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            4518.166396052226,
+            1455.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            4515.568319840873,
+            1453.9911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            4512.97024362952,
+            1452.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            4510.372167418167,
+            1450.9911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            4507.774091206814,
+            1449.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            4505.176014995461,
+            1447.9911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            4502.577938784108,
+            1446.4911271451106,
+            48.005690911321864
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            4502.577938784108,
+            1446.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535897647
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            4499.577938784108,
+            1446.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            4496.577938784108,
+            1446.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            4493.577938784108,
+            1446.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            4490.577938784108,
+            1446.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            4487.577938784108,
+            1446.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            4484.577938784108,
+            1446.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            4481.577938784108,
+            1446.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            4478.577938784108,
+            1446.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            4475.577938784108,
+            1446.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            4472.577938784108,
+            1446.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            4469.577938784108,
+            1446.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            4466.577938784108,
+            1446.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            4463.577938784108,
+            1446.4911271451106,
+            48.005690911321864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            4460.577938784108,
+            1446.4911271451106,
+            48.005690911321864
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            4436.0,
+            1436.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-56-26_42999170/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-56-26_42999170/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..283ee09388b3dee4289627f9fdbe506d43edc622
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_12-56-26_42999170/pose.jsonl
@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -2909.2625112662267,
+            -520.996599221432,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -2910.7625112662267,
+            -518.3985230100786,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -2912.2625112662267,
+            -515.8004467987253,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -2913.7625112662267,
+            -513.2023705873719,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -2915.2625112662267,
+            -510.6042943760186,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -2916.7625112662267,
+            -508.00621816466526,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -2918.2625112662267,
+            -505.40814195331194,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -2919.7625112662267,
+            -502.8100657419586,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -2921.2625112662267,
+            -500.2119895306053,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -2922.7625112662267,
+            -497.613913319252,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -2924.2625112662267,
+            -495.0158371078987,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -2925.7625112662267,
+            -492.41776089654536,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -2927.2625112662267,
+            -489.81968468519204,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -2928.7625112662267,
+            -487.2216084738387,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -2930.2625112662267,
+            -484.6235322624854,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -2931.7625112662267,
+            -482.0254560511321,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -2933.2625112662267,
+            -479.4273798397788,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -2934.7625112662267,
+            -476.82930362842546,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -2936.2625112662267,
+            -474.23122741707215,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -2937.7625112662267,
+            -471.63315120571883,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -2939.2625112662267,
+            -469.0350749943655,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -2940.7625112662267,
+            -466.4369987830122,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -2942.2625112662267,
+            -463.8389225716589,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -2943.7625112662267,
+            -461.24084636030557,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -2945.2625112662267,
+            -458.64277014895225,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -2946.7625112662267,
+            -456.04469393759894,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -2948.2625112662267,
+            -453.4466177262456,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -2949.7625112662267,
+            -450.8485415148923,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -2951.2625112662267,
+            -448.250465303539,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -2952.7625112662267,
+            -445.6523890921857,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -2954.2625112662267,
+            -443.05431288083236,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -2955.7625112662267,
+            -440.45623666947904,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -2957.2625112662267,
+            -437.8581604581257,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -2958.7625112662267,
+            -435.2600842467724,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -2960.2625112662267,
+            -432.6620080354191,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -2961.7625112662267,
+            -430.0639318240658,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -2963.2625112662267,
+            -427.46585561271246,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -2964.7625112662267,
+            -424.86777940135914,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -2966.2625112662267,
+            -422.2697031900058,
+            46.76389407017383
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -2966.2625112662267,
+            -422.2697031900058,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -2966.2625112662267,
+            -419.2697031900058,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -2966.2625112662267,
+            -416.2697031900058,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -2966.2625112662267,
+            -413.2697031900058,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -2966.2625112662267,
+            -410.2697031900058,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -2966.2625112662267,
+            -407.2697031900058,
+            46.76389407017383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -2966.2625112662267,
+            -404.2697031900058,
+            46.76389407017383
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -2988.0,
+            -364.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-16-10_463480570/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-16-10_463480570/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d3bdd6982a513351c3c7a8a969ecea358c4e98f5
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-16-10_463480570/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1620.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1617.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1614.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1611.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1608.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1605.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1602.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1599.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1596.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1593.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1590.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1587.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1584.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1581.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1578.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1575.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1572.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1569.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1566.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1563.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1560.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1557.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1554.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1551.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1548.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1545.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1542.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1539.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1536.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1536.21470458851,
+            -1944.3456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1533.6166283771565,
+            -1942.8456851751998,
+            57.00793749747038
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1533.6166283771565,
+            -1942.8456851751998,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1532.1166283771565,
+            -1940.2476089638465,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1530.6166283771565,
+            -1937.649532752493,
+            57.00793749747038
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1530.6166283771565,
+            -1937.649532752493,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1528.0185521658032,
+            -1936.149532752493,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1525.4204759544498,
+            -1934.649532752493,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1522.8223997430964,
+            -1933.149532752493,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1520.224323531743,
+            -1931.649532752493,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1517.6262473203897,
+            -1930.149532752493,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1515.0281711090363,
+            -1928.649532752493,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1512.430094897683,
+            -1927.149532752493,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1509.8320186863295,
+            -1925.649532752493,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1507.2339424749762,
+            -1924.149532752493,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1504.6358662636228,
+            -1922.649532752493,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1502.0377900522694,
+            -1921.149532752493,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1499.439713840916,
+            -1919.649532752493,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1496.8416376295627,
+            -1918.149532752493,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1494.2435614182093,
+            -1916.649532752493,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1491.645485206856,
+            -1915.149532752493,
+            57.00793749747038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1489.0474089955026,
+            -1913.649532752493,
+            57.00793749747038
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1464.0,
+            -1908.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-2-42_1141616124/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-2-42_1141616124/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..48e78dca08bd080d42fd484ed0a557e47da29bf1
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-2-42_1141616124/pose.jsonl
@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -2917.276851598353,
+            -911.3846733412095,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -2918.776851598353,
+            -908.7865971298561,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -2920.276851598353,
+            -906.1885209185027,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -2921.776851598353,
+            -903.5904447071493,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -2923.276851598353,
+            -900.992368495796,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -2924.776851598353,
+            -898.3942922844426,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -2926.276851598353,
+            -895.7962160730892,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -2927.776851598353,
+            -893.1981398617359,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -2929.276851598353,
+            -890.6000636503825,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -2930.776851598353,
+            -888.0019874390291,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -2932.276851598353,
+            -885.4039112276757,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -2933.776851598353,
+            -882.8058350163224,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -2935.276851598353,
+            -880.207758804969,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -2936.776851598353,
+            -877.6096825936156,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -2938.276851598353,
+            -875.0116063822622,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -2939.776851598353,
+            -872.4135301709089,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -2941.276851598353,
+            -869.8154539595555,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -2942.776851598353,
+            -867.2173777482021,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -2944.276851598353,
+            -864.6193015368488,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -2945.776851598353,
+            -862.0212253254954,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -2947.276851598353,
+            -859.423149114142,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -2948.776851598353,
+            -856.8250729027886,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -2950.276851598353,
+            -854.2269966914353,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -2951.776851598353,
+            -851.6289204800819,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -2953.276851598353,
+            -849.0308442687285,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -2954.776851598353,
+            -846.4327680573751,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -2956.276851598353,
+            -843.8346918460218,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -2957.776851598353,
+            -841.2366156346684,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -2959.276851598353,
+            -838.638539423315,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -2960.776851598353,
+            -836.0404632119617,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -2962.276851598353,
+            -833.4423870006083,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -2963.776851598353,
+            -830.8443107892549,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -2965.276851598353,
+            -828.2462345779015,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -2966.776851598353,
+            -825.6481583665482,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -2968.276851598353,
+            -823.0500821551948,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -2969.776851598353,
+            -820.4520059438414,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -2971.276851598353,
+            -817.853929732488,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -2972.776851598353,
+            -815.2558535211347,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -2974.276851598353,
+            -812.6577773097813,
+            57.93951149102257
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -2974.276851598353,
+            -812.6577773097813,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -2974.276851598353,
+            -809.6577773097813,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -2974.276851598353,
+            -806.6577773097813,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -2974.276851598353,
+            -803.6577773097813,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -2974.276851598353,
+            -800.6577773097813,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -2974.276851598353,
+            -797.6577773097813,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -2974.276851598353,
+            -794.6577773097813,
+            57.93951149102257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -2974.276851598353,
+            -791.6577773097813,
+            57.93951149102257
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -2988.0,
+            -764.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-25-41_1633108117/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-25-41_1633108117/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d29705ee187ea9cd68dd49cfebd40d2ced0f2284
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-25-41_1633108117/pose.jsonl
@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1930.0804874934247,
+            -306.917984524188,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1928.5804874934247,
+            -304.3199083128347,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1927.0804874934247,
+            -301.72183210148137,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1925.5804874934247,
+            -299.12375589012805,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1924.0804874934247,
+            -296.52567967877474,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1922.5804874934247,
+            -293.9276034674214,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1921.0804874934247,
+            -291.3295272560681,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1919.5804874934247,
+            -288.7314510447148,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1918.0804874934247,
+            -286.1333748333615,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1916.5804874934247,
+            -283.53529862200816,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1915.0804874934247,
+            -280.93722241065484,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1913.5804874934247,
+            -278.3391461993015,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1912.0804874934247,
+            -275.7410699879482,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1910.5804874934247,
+            -273.1429937765949,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1909.0804874934247,
+            -270.5449175652416,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1907.5804874934247,
+            -267.94684135388826,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1906.0804874934247,
+            -265.34876514253494,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1904.5804874934247,
+            -262.7506889311816,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1903.0804874934247,
+            -260.1526127198283,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1901.5804874934247,
+            -257.554536508475,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1900.0804874934247,
+            -254.95646029712168,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1898.5804874934247,
+            -252.35838408576836,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1897.0804874934247,
+            -249.76030787441505,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1895.5804874934247,
+            -247.16223166306173,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1894.0804874934247,
+            -244.56415545170842,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1892.5804874934247,
+            -241.9660792403551,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1891.0804874934247,
+            -239.36800302900178,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1889.5804874934247,
+            -236.76992681764847,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1888.0804874934247,
+            -234.17185060629515,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1886.5804874934247,
+            -231.57377439494184,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1885.0804874934247,
+            -228.97569818358852,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1883.5804874934247,
+            -226.3776219722352,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1882.0804874934247,
+            -223.7795457608819,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1880.5804874934247,
+            -221.18146954952857,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1879.0804874934247,
+            -218.58339333817526,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1877.5804874934247,
+            -215.98531712682194,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1876.0804874934247,
+            -213.38724091546862,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1874.5804874934247,
+            -210.7891647041153,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1873.0804874934247,
+            -208.191088492762,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1871.5804874934247,
+            -205.59301228140868,
+            48.3477906807541
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1871.5804874934247,
+            -205.59301228140868,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1871.5804874934247,
+            -202.59301228140868,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1871.5804874934247,
+            -199.59301228140868,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1871.5804874934247,
+            -196.59301228140868,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1871.5804874934247,
+            -193.59301228140868,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1871.5804874934247,
+            -190.59301228140868,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1871.5804874934247,
+            -187.59301228140868,
+            48.3477906807541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1871.5804874934247,
+            -184.59301228140868,
+            48.3477906807541
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1860.0,
+            -160.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-33-10_160051528/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-33-10_160051528/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2178fa42ecbb9205dbe2752db83f06853bcfadd1
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-33-10_160051528/pose.jsonl
@@ -0,0 +1,743 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1901.2338218167092,
+            -671.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1901.2338218167092,
+            -674.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1901.2338218167092,
+            -677.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1901.2338218167092,
+            -680.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1901.2338218167092,
+            -683.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1901.2338218167092,
+            -686.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1901.2338218167092,
+            -689.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1901.2338218167092,
+            -692.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1901.2338218167092,
+            -695.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1901.2338218167092,
+            -698.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1901.2338218167092,
+            -701.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1901.2338218167092,
+            -704.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1901.2338218167092,
+            -707.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1901.2338218167092,
+            -710.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1901.2338218167092,
+            -713.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1901.2338218167092,
+            -716.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1901.2338218167092,
+            -719.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1901.2338218167092,
+            -722.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1901.2338218167092,
+            -725.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1901.2338218167092,
+            -728.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1901.2338218167092,
+            -731.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1901.2338218167092,
+            -734.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1901.2338218167092,
+            -737.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1901.2338218167092,
+            -740.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1901.2338218167092,
+            -743.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1901.2338218167092,
+            -746.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1901.2338218167092,
+            -749.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1901.2338218167092,
+            -752.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1901.2338218167092,
+            -755.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1901.2338218167092,
+            -758.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1901.2338218167092,
+            -761.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1901.2338218167092,
+            -764.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1901.2338218167092,
+            -767.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1901.2338218167092,
+            -770.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1901.2338218167092,
+            -773.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1901.2338218167092,
+            -776.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1901.2338218167092,
+            -779.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1901.2338218167092,
+            -782.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1901.2338218167092,
+            -785.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1901.2338218167092,
+            -788.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1901.2338218167092,
+            -791.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1901.2338218167092,
+            -794.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1901.2338218167092,
+            -797.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1901.2338218167092,
+            -800.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1901.2338218167092,
+            -803.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1901.2338218167092,
+            -806.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1901.2338218167092,
+            -809.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1901.2338218167092,
+            -812.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1901.2338218167092,
+            -815.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1901.2338218167092,
+            -818.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1901.2338218167092,
+            -821.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1901.2338218167092,
+            -824.9383705704308,
+            53.801869747880914
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1901.2338218167092,
+            -824.9383705704308,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1902.7338218167092,
+            -827.5364467817842,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1904.2338218167092,
+            -830.1345229931376,
+            53.801869747880914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -1905.7338218167092,
+            -832.732599204491,
+            53.801869747880914
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1908.0,
+            -848.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-37-37_1373226340/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-37-37_1373226340/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f773567571adb3b26cc6c725f3e7f491cfd6aa7b
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-37-37_1373226340/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1669.5292051777644,
+            -2757.529820739305,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1668.0292051777644,
+            -2760.127896950658,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1666.5292051777644,
+            -2762.725973162011,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1665.0292051777644,
+            -2765.3240493733642,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1663.5292051777644,
+            -2767.9221255847174,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1662.0292051777644,
+            -2770.5202017960705,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1660.5292051777644,
+            -2773.1182780074237,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1659.0292051777644,
+            -2775.716354218777,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1657.5292051777644,
+            -2778.31443043013,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1656.0292051777644,
+            -2780.912506641483,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1654.5292051777644,
+            -2783.5105828528363,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1653.0292051777644,
+            -2786.1086590641894,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1651.5292051777644,
+            -2788.7067352755425,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1650.0292051777644,
+            -2791.3048114868957,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1648.5292051777644,
+            -2793.902887698249,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1647.0292051777644,
+            -2796.500963909602,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1645.5292051777644,
+            -2799.099040120955,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1644.0292051777644,
+            -2801.6971163323083,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1642.5292051777644,
+            -2804.2951925436614,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1641.0292051777644,
+            -2806.8932687550146,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1639.5292051777644,
+            -2809.4913449663677,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1638.0292051777644,
+            -2812.089421177721,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1636.5292051777644,
+            -2814.687497389074,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1635.0292051777644,
+            -2817.285573600427,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1633.5292051777644,
+            -2819.8836498117803,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1632.0292051777644,
+            -2822.4817260231334,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1630.5292051777644,
+            -2825.0798022344866,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1629.0292051777644,
+            -2827.6778784458397,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1627.5292051777644,
+            -2830.275954657193,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1626.0292051777644,
+            -2832.874030868546,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1624.5292051777644,
+            -2835.472107079899,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1623.0292051777644,
+            -2838.0701832912523,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1621.5292051777644,
+            -2840.6682595026055,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1620.0292051777644,
+            -2843.2663357139586,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1618.5292051777644,
+            -2845.8644119253117,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1617.0292051777644,
+            -2848.462488136665,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1615.5292051777644,
+            -2851.060564348018,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1614.0292051777644,
+            -2853.658640559371,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1612.5292051777644,
+            -2856.2567167707243,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1611.0292051777644,
+            -2858.8547929820775,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1609.5292051777644,
+            -2861.4528691934306,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1608.0292051777644,
+            -2864.0509454047838,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1606.5292051777644,
+            -2866.649021616137,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1605.0292051777644,
+            -2869.24709782749,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1603.5292051777644,
+            -2871.845174038843,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1602.0292051777644,
+            -2874.4432502501963,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1600.5292051777644,
+            -2877.0413264615495,
+            63.68530264957312
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1600.5292051777644,
+            -2877.0413264615495,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915224
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1597.931128966411,
+            -2878.5413264615495,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1595.3330527550577,
+            -2880.0413264615495,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1592.7349765437043,
+            -2881.5413264615495,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1590.136900332351,
+            -2883.0413264615495,
+            63.68530264957312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1587.5388241209976,
+            -2884.5413264615495,
+            63.68530264957312
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1572.0,
+            -2908.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-43-4_111537764/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-43-4_111537764/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1068b36141bfd040e9982da0a7039e751ebc4da7
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-43-4_111537764/pose.jsonl
@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            2986.76221554558,
+            -233.05219041089273,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            2989.3602917569333,
+            -234.55219041089273,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            2991.9583679682864,
+            -236.05219041089273,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            2994.5564441796396,
+            -237.55219041089273,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            2997.1545203909927,
+            -239.05219041089273,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            2999.752596602346,
+            -240.55219041089273,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            3002.350672813699,
+            -242.05219041089273,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            3004.948749025052,
+            -243.55219041089273,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            3007.5468252364053,
+            -245.05219041089273,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            3010.1449014477585,
+            -246.55219041089273,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            3012.7429776591116,
+            -248.05219041089273,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            3015.3410538704647,
+            -249.55219041089273,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            3017.939130081818,
+            -251.05219041089273,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            3020.537206293171,
+            -252.55219041089273,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            3023.135282504524,
+            -254.05219041089273,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            3025.7333587158773,
+            -255.55219041089273,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            3028.3314349272305,
+            -257.0521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983191
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            3030.9295111385836,
+            -258.5521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            3033.5275873499368,
+            -260.0521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            3036.12566356129,
+            -261.5521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            3038.723739772643,
+            -263.0521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            3041.321815983996,
+            -264.5521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            3043.9198921953493,
+            -266.0521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            3046.5179684067025,
+            -267.5521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            3049.1160446180556,
+            -269.0521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            3051.714120829409,
+            -270.5521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            3054.312197040762,
+            -272.0521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            3056.910273252115,
+            -273.5521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            3059.508349463468,
+            -275.0521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            3062.1064256748214,
+            -276.5521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            3064.7045018861745,
+            -278.0521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            3067.3025780975277,
+            -279.5521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            3069.900654308881,
+            -281.0521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            3072.498730520234,
+            -282.5521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            3075.096806731587,
+            -284.0521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            3077.6948829429402,
+            -285.5521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            3080.2929591542934,
+            -287.0521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            3082.8910353656465,
+            -288.5521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            3085.4891115769997,
+            -290.0521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            3088.087187788353,
+            -291.5521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            3090.685263999706,
+            -293.0521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            3093.283340211059,
+            -294.5521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            3095.8814164224123,
+            -296.0521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            3098.4794926337654,
+            -297.5521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            3101.0775688451185,
+            -299.0521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            3103.6756450564717,
+            -300.5521904108927,
+            68.66060261154567
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            3106.273721267825,
+            -302.0521904108927,
+            68.66060261154567
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            3120.0,
+            -312.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-47-24_8936987/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-47-24_8936987/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a517ad86ed75a3def88b13a21411c39b3b0cec58
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-47-24_8936987/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            3237.412367924255,
+            -456.7944036133712,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            3238.912367924255,
+            -454.19632740201786,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            3240.412367924255,
+            -451.59825119066454,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            3241.912367924255,
+            -449.0001749793112,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            3243.412367924255,
+            -446.4020987679579,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            3244.912367924255,
+            -443.8040225566046,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            3246.412367924255,
+            -441.2059463452513,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            3247.912367924255,
+            -438.60787013389796,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            3249.412367924255,
+            -436.00979392254465,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            3250.912367924255,
+            -433.41171771119133,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            3252.412367924255,
+            -430.813641499838,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            3253.912367924255,
+            -428.2155652884847,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            3255.412367924255,
+            -425.6174890771314,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            3256.912367924255,
+            -423.01941286577807,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            3258.412367924255,
+            -420.42133665442475,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            3259.912367924255,
+            -417.82326044307143,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            3261.412367924255,
+            -415.2251842317181,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            3262.912367924255,
+            -412.6271080203648,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            3264.412367924255,
+            -410.0290318090115,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            3265.912367924255,
+            -407.43095559765817,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            3267.412367924255,
+            -404.83287938630485,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            3268.912367924255,
+            -402.23480317495154,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            3270.412367924255,
+            -399.6367269635982,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            3271.912367924255,
+            -397.0386507522449,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            3273.412367924255,
+            -394.4405745408916,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            3274.912367924255,
+            -391.8424983295383,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            3276.412367924255,
+            -389.24442211818496,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            3277.912367924255,
+            -386.64634590683164,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            3279.412367924255,
+            -384.0482696954783,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            3280.912367924255,
+            -381.450193484125,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            3282.412367924255,
+            -378.8521172727717,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            3283.912367924255,
+            -376.2540410614184,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            3285.412367924255,
+            -373.65596485006506,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            3286.912367924255,
+            -371.05788863871174,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            3288.412367924255,
+            -368.45981242735843,
+            69.91543880999342
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            3288.412367924255,
+            -368.45981242735843,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            3288.412367924255,
+            -365.45981242735843,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            3288.412367924255,
+            -362.45981242735843,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            3288.412367924255,
+            -359.45981242735843,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            3288.412367924255,
+            -356.45981242735843,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            3288.412367924255,
+            -353.45981242735843,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            3288.412367924255,
+            -350.45981242735843,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            3288.412367924255,
+            -347.45981242735843,
+            69.91543880999342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            3288.412367924255,
+            -344.45981242735843,
+            69.91543880999342
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            3304.0,
+            -308.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-50-24_1960709859/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-50-24_1960709859/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..32ff1588e227743d0b9083fca3692503938c43bb
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-50-24_1960709859/pose.jsonl
@@ -0,0 +1,821 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            715.5984456339479,
+            1208.5510601747676,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            717.0984456339479,
+            1205.9529839634142,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            718.5984456339479,
+            1203.3549077520609,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            720.0984456339479,
+            1200.7568315407075,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            721.5984456339479,
+            1198.158755329354,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            723.0984456339479,
+            1195.5606791180007,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            724.5984456339479,
+            1192.9626029066474,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            726.0984456339479,
+            1190.364526695294,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            727.5984456339479,
+            1187.7664504839406,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            729.0984456339479,
+            1185.1683742725872,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            730.5984456339479,
+            1182.5702980612339,
+            44.98365497688415
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            730.5984456339479,
+            1182.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            730.5984456339479,
+            1179.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            730.5984456339479,
+            1176.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            730.5984456339479,
+            1173.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            730.5984456339479,
+            1170.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            730.5984456339479,
+            1167.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            730.5984456339479,
+            1164.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            730.5984456339479,
+            1161.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            730.5984456339479,
+            1158.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            730.5984456339479,
+            1155.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            730.5984456339479,
+            1152.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            730.5984456339479,
+            1149.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            730.5984456339479,
+            1146.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            730.5984456339479,
+            1143.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            730.5984456339479,
+            1140.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            730.5984456339479,
+            1137.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            730.5984456339479,
+            1134.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            730.5984456339479,
+            1131.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            730.5984456339479,
+            1128.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            730.5984456339479,
+            1125.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            730.5984456339479,
+            1122.5702980612339,
+            44.98365497688415
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            730.5984456339479,
+            1122.5702980612339,
+            44.98365497688415
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            730.5984456339479,
+            1122.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            733.1965218453013,
+            1121.0702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            735.7945980566546,
+            1119.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            738.392674268008,
+            1118.0702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            740.9907504793614,
+            1116.5702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            743.5888266907148,
+            1115.0702980612339,
+            44.98365497688415
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            743.5888266907148,
+            1115.0702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            746.5888266907148,
+            1115.0702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            749.5888266907148,
+            1115.0702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            752.5888266907148,
+            1115.0702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            755.5888266907148,
+            1115.0702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            758.5888266907148,
+            1115.0702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            761.5888266907148,
+            1115.0702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            764.5888266907148,
+            1115.0702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            767.5888266907148,
+            1115.0702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            770.5888266907148,
+            1115.0702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            773.5888266907148,
+            1115.0702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            776.5888266907148,
+            1115.0702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            779.5888266907148,
+            1115.0702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            782.5888266907148,
+            1115.0702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            785.5888266907148,
+            1115.0702980612339,
+            44.98365497688415
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            785.5888266907148,
+            1115.0702980612339,
+            44.98365497688415
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            785.5888266907148,
+            1115.0702980612339,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            787.0888266907148,
+            1112.4722218498805,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            788.5888266907148,
+            1109.8741456385271,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            790.0888266907148,
+            1107.2760694271738,
+            44.98365497688415
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            790.0888266907148,
+            1107.2760694271738,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            792.6869029020681,
+            1105.7760694271738,
+            44.98365497688415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            795.2849791134215,
+            1104.2760694271738,
+            44.98365497688415
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            808.0,
+            1088.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-56-29_1884661237/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-56-29_1884661237/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7f789c52ebdd0b6304010e35341f350a23433766
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-56-29_1884661237/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            135.23352285009182,
+            1832.1294306507245,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            136.73352285009182,
+            1834.727506862078,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            138.23352285009182,
+            1837.3255830734313,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            139.73352285009182,
+            1839.9236592847847,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            141.23352285009182,
+            1842.521735496138,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            142.73352285009182,
+            1845.1198117074914,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            144.23352285009182,
+            1847.7178879188448,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            145.73352285009182,
+            1850.3159641301982,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            147.23352285009182,
+            1852.9140403415515,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            148.73352285009182,
+            1855.512116552905,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            150.23352285009182,
+            1858.1101927642583,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            151.73352285009182,
+            1860.7082689756116,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            153.23352285009182,
+            1863.306345186965,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            154.73352285009182,
+            1865.9044213983184,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            156.23352285009182,
+            1868.5024976096718,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            157.73352285009182,
+            1871.1005738210251,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            159.23352285009182,
+            1873.6986500323785,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            160.73352285009182,
+            1876.2967262437319,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            162.23352285009182,
+            1878.8948024550853,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            163.73352285009182,
+            1881.4928786664386,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            165.23352285009182,
+            1884.090954877792,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            166.73352285009182,
+            1886.6890310891454,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            168.23352285009182,
+            1889.2871073004987,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            169.73352285009182,
+            1891.8851835118521,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            171.23352285009182,
+            1894.4832597232055,
+            47.891228895613025
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            171.23352285009182,
+            1894.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            171.23352285009182,
+            1897.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            171.23352285009182,
+            1900.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            171.23352285009182,
+            1903.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            171.23352285009182,
+            1906.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            171.23352285009182,
+            1909.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            171.23352285009182,
+            1912.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            171.23352285009182,
+            1915.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            171.23352285009182,
+            1918.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            171.23352285009182,
+            1921.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            171.23352285009182,
+            1924.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            171.23352285009182,
+            1927.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            171.23352285009182,
+            1930.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            171.23352285009182,
+            1933.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            171.23352285009182,
+            1936.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            171.23352285009182,
+            1939.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            171.23352285009182,
+            1942.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            171.23352285009182,
+            1945.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            171.23352285009182,
+            1948.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            171.23352285009182,
+            1951.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            171.23352285009182,
+            1954.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            171.23352285009182,
+            1957.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            171.23352285009182,
+            1960.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            171.23352285009182,
+            1963.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            171.23352285009182,
+            1966.4832597232055,
+            47.891228895613025
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            171.23352285009182,
+            1969.4832597232055,
+            47.891228895613025
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            180.0,
+            1996.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-7-30_356426808/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-7-30_356426808/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a7fab73cee9727c6ead572a0399270a268c30075
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_13-7-30_356426808/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            2980.081641696908,
+            1683.8180662793845,
+            61.3311034956387
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            2983.081641696908,
+            1683.8180662793845,
+            61.3311034956387
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            2986.081641696908,
+            1683.8180662793845,
+            61.3311034956387
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            2989.081641696908,
+            1683.8180662793845,
+            61.3311034956387
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            2992.081641696908,
+            1683.8180662793845,
+            61.3311034956387
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            2995.081641696908,
+            1683.8180662793845,
+            61.3311034956387
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            2998.081641696908,
+            1683.8180662793845,
+            61.3311034956387
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            3001.081641696908,
+            1683.8180662793845,
+            61.3311034956387
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            3004.081641696908,
+            1683.8180662793845,
+            61.3311034956387
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            3007.081641696908,
+            1683.8180662793845,
+            61.3311034956387
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            3010.081641696908,
+            1683.8180662793845,
+            61.3311034956387
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            3013.081641696908,
+            1683.8180662793845,
+            61.3311034956387
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            3016.081641696908,
+            1683.8180662793845,
+            61.3311034956387
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            3019.081641696908,
+            1683.8180662793845,
+            61.3311034956387
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            3022.081641696908,
+            1683.8180662793845,
+            61.3311034956387
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            3025.081641696908,
+            1683.8180662793845,
+            61.3311034956387
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            3028.081641696908,
+            1683.8180662793845,
+            61.3311034956387
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            3028.081641696908,
+            1683.8180662793845,
+            61.3311034956387
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            3030.679717908261,
+            1685.3180662793845,
+            61.3311034956387
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            3033.277794119614,
+            1686.8180662793845,
+            61.3311034956387
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            3035.8758703309672,
+            1688.3180662793845,
+            61.3311034956387
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            3156.0,
+            1696.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_14-25-40_1308044878/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_14-25-40_1308044878/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c94faf365b789fb33f349cb9273d071e3a3a6995
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_14-25-40_1308044878/pose.jsonl
@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1759.9637406701047,
+            -2757.8815598291153,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1761.4637406701047,
+            -2755.283483617762,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1762.9637406701047,
+            -2752.685407406409,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1764.4637406701047,
+            -2750.087331195056,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1765.9637406701047,
+            -2747.4892549837027,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1767.4637406701047,
+            -2744.8911787723496,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1768.9637406701047,
+            -2742.2931025609964,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1770.4637406701047,
+            -2739.6950263496433,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1771.9637406701047,
+            -2737.09695013829,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1773.4637406701047,
+            -2734.498873926937,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1774.9637406701047,
+            -2731.900797715584,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1776.4637406701047,
+            -2729.3027215042307,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1777.9637406701047,
+            -2726.7046452928776,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1779.4637406701047,
+            -2724.1065690815244,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1780.9637406701047,
+            -2721.5084928701713,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1782.4637406701047,
+            -2718.910416658818,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1783.9637406701047,
+            -2716.312340447465,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1785.4637406701047,
+            -2713.714264236112,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1786.9637406701047,
+            -2711.1161880247587,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1788.4637406701047,
+            -2708.5181118134055,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1789.9637406701047,
+            -2705.9200356020524,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1791.4637406701047,
+            -2703.3219593906992,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1792.9637406701047,
+            -2700.723883179346,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1794.4637406701047,
+            -2698.125806967993,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1795.9637406701047,
+            -2695.52773075664,
+            64.54273135853732
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1795.9637406701047,
+            -2695.52773075664,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.570796326794925
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1795.9637406701047,
+            -2692.52773075664,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1795.9637406701047,
+            -2689.52773075664,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1795.9637406701047,
+            -2686.52773075664,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1795.9637406701047,
+            -2683.52773075664,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1795.9637406701047,
+            -2680.52773075664,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1795.9637406701047,
+            -2677.52773075664,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1795.9637406701047,
+            -2674.52773075664,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1795.9637406701047,
+            -2671.52773075664,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1795.9637406701047,
+            -2668.52773075664,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1795.9637406701047,
+            -2665.52773075664,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1795.9637406701047,
+            -2662.52773075664,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1795.9637406701047,
+            -2659.52773075664,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1795.9637406701047,
+            -2656.52773075664,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1795.9637406701047,
+            -2653.52773075664,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1795.9637406701047,
+            -2650.52773075664,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1795.9637406701047,
+            -2647.52773075664,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1795.9637406701047,
+            -2644.52773075664,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1795.9637406701047,
+            -2641.52773075664,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1795.9637406701047,
+            -2638.52773075664,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1795.9637406701047,
+            -2635.52773075664,
+            64.54273135853732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1795.9637406701047,
+            -2632.52773075664,
+            64.54273135853732
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1804.0,
+            -2600.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_14-29-19_1402586708/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_14-29-19_1402586708/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..71bbf2ee28340977f6471ac4a42850e6934d42e4
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_14-29-19_1402586708/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -2440.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -2443.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -2446.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -2449.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -2452.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -2455.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -2458.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -2461.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -2464.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -2467.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -2470.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -2473.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -2476.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -2479.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -2482.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -2485.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -2488.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -2491.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -2494.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -2497.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -2500.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -2503.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -2506.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -2509.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -2512.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -2515.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -2518.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -2521.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -2521.1851857959705,
+            -2789.141798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -2523.7832620073236,
+            -2787.641798169331,
+            48.8801752603828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -2526.381338218677,
+            -2786.141798169331,
+            48.8801752603828
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -2592.0,
+            -2784.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_14-40-42_260152959/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_14-40-42_260152959/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..870707ef27282b89778c0725ea54834fd55f7333
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_14-40-42_260152959/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            4063.746244845987,
+            -576.0682202468126,
+            69.05810970301393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            4063.746244845987,
+            -573.0682202468126,
+            69.05810970301393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            4063.746244845987,
+            -570.0682202468126,
+            69.05810970301393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            4063.746244845987,
+            -567.0682202468126,
+            69.05810970301393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            4063.746244845987,
+            -564.0682202468126,
+            69.05810970301393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            4063.746244845987,
+            -561.0682202468126,
+            69.05810970301393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            4063.746244845987,
+            -558.0682202468126,
+            69.05810970301393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            4063.746244845987,
+            -555.0682202468126,
+            69.05810970301393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            4063.746244845987,
+            -552.0682202468126,
+            69.05810970301393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            4063.746244845987,
+            -549.0682202468126,
+            69.05810970301393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            4063.746244845987,
+            -546.0682202468126,
+            69.05810970301393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            4063.746244845987,
+            -543.0682202468126,
+            69.05810970301393
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            4048.0,
+            -400.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_14-40-52_1472713773/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_14-40-52_1472713773/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..abd17761c8616c80d91b293a1ed90bcfa607e900
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_14-40-52_1472713773/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -2557.5530065791686,
+            784.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -2554.5530065791686,
+            784.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -2551.5530065791686,
+            784.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -2548.5530065791686,
+            784.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -2545.5530065791686,
+            784.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -2542.5530065791686,
+            784.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -2539.5530065791686,
+            784.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -2536.5530065791686,
+            784.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -2533.5530065791686,
+            784.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -2530.5530065791686,
+            784.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -2527.5530065791686,
+            784.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -2524.5530065791686,
+            784.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -2521.5530065791686,
+            784.6651412062456,
+            43.25285579925249
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -2521.5530065791686,
+            784.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -2518.9549303678155,
+            783.1651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -2516.3568541564623,
+            781.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -2513.758777945109,
+            780.1651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -2511.160701733756,
+            778.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -2508.562625522403,
+            777.1651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -2505.9645493110497,
+            775.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -2503.3664730996966,
+            774.1651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -2500.7683968883434,
+            772.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -2498.1703206769903,
+            771.1651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -2495.572244465637,
+            769.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -2492.974168254284,
+            768.1651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -2490.376092042931,
+            766.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -2487.7780158315777,
+            765.1651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -2485.1799396202246,
+            763.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -2482.5818634088714,
+            762.1651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -2479.9837871975183,
+            760.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -2477.385710986165,
+            759.1651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -2474.787634774812,
+            757.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -2472.189558563459,
+            756.1651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -2469.5914823521057,
+            754.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -2466.9934061407525,
+            753.1651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -2464.3953299293994,
+            751.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -2461.7972537180462,
+            750.1651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -2459.199177506693,
+            748.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -2456.60110129534,
+            747.1651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -2454.003025083987,
+            745.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -2451.4049488726337,
+            744.1651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -2448.8068726612805,
+            742.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -2446.2087964499274,
+            741.1651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -2443.6107202385742,
+            739.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -2441.012644027221,
+            738.1651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -2438.414567815868,
+            736.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -2435.816491604515,
+            735.1651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -2433.2184153931616,
+            733.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -2430.6203391818085,
+            732.1651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -2428.0222629704554,
+            730.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -2425.424186759102,
+            729.1651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -2422.826110547749,
+            727.6651412062456,
+            43.25285579925249
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -2420.228034336396,
+            726.1651412062456,
+            43.25285579925249
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -2404.0,
+            716.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_14-7-15_1504569917/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_14-7-15_1504569917/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d331aa95ffb0648fd963d9cd77ccf32405323c3f
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_14-7-15_1504569917/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            3253.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            3256.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            3259.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            3262.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            3265.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            3268.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            3271.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            3274.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            3277.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            3280.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            3283.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            3286.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            3289.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            3292.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            3295.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            3298.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            3301.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            3304.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            3307.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            3310.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            3313.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            3316.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            3319.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            3322.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            3325.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            3328.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            3331.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            3334.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            3337.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            3340.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            3343.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            3346.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            3349.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            3352.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            3355.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            3358.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            3361.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            3361.286702039965,
+            -892.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            3363.884778251318,
+            -890.9643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            3366.482854462671,
+            -889.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            3369.0809306740243,
+            -887.9643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            3371.6790068853775,
+            -886.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            3374.2770830967306,
+            -884.9643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            3376.8751593080838,
+            -883.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            3379.473235519437,
+            -881.9643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            3382.07131173079,
+            -880.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            3384.669387942143,
+            -878.9643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            3387.2674641534963,
+            -877.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            3389.8655403648495,
+            -875.9643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            3392.4636165762026,
+            -874.4643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            3395.061692787556,
+            -872.9643690679627,
+            57.61096697286017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            3397.659768998909,
+            -871.4643690679627,
+            57.61096697286017
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            3428.0,
+            -864.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_14-9-22_1359512183/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_14-9-22_1359512183/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3dd3cb3ca9eea5f6a68acc209aa84f0b6c9a1e6d
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_14-9-22_1359512183/pose.jsonl
@@ -0,0 +1,600 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1446.1665882691227,
+            -693.1328871755536,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1447.6665882691227,
+            -690.5348109642002,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1449.1665882691227,
+            -687.9367347528469,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1450.6665882691227,
+            -685.3386585414935,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1452.1665882691227,
+            -682.7405823301401,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1453.6665882691227,
+            -680.1425061187867,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1455.1665882691227,
+            -677.5444299074334,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1456.6665882691227,
+            -674.94635369608,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1458.1665882691227,
+            -672.3482774847266,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1459.6665882691227,
+            -669.7502012733732,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1461.1665882691227,
+            -667.1521250620199,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1462.6665882691227,
+            -664.5540488506665,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1464.1665882691227,
+            -661.9559726393131,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1465.6665882691227,
+            -659.3578964279598,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1467.1665882691227,
+            -656.7598202166064,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1468.6665882691227,
+            -654.161744005253,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1470.1665882691227,
+            -651.5636677938996,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1471.6665882691227,
+            -648.9655915825463,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1473.1665882691227,
+            -646.3675153711929,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1474.6665882691227,
+            -643.7694391598395,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1476.1665882691227,
+            -641.1713629484861,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1477.6665882691227,
+            -638.5732867371328,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1479.1665882691227,
+            -635.9752105257794,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1480.6665882691227,
+            -633.377134314426,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1482.1665882691227,
+            -630.7790581030727,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1483.6665882691227,
+            -628.1809818917193,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1485.1665882691227,
+            -625.5829056803659,
+            69.33756051908847
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1485.1665882691227,
+            -625.5829056803659,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1487.764664480476,
+            -624.0829056803659,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1490.3627406918295,
+            -622.5829056803659,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1492.9608169031828,
+            -621.0829056803659,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1495.5588931145362,
+            -619.5829056803659,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1498.1569693258896,
+            -618.0829056803659,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1500.755045537243,
+            -616.5829056803659,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1503.3531217485963,
+            -615.0829056803659,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1505.9511979599497,
+            -613.5829056803659,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1508.549274171303,
+            -612.0829056803659,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1511.1473503826564,
+            -610.5829056803659,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1513.7454265940098,
+            -609.0829056803659,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1516.3435028053632,
+            -607.5829056803659,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1518.9415790167166,
+            -606.0829056803659,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1521.53965522807,
+            -604.5829056803659,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1524.1377314394233,
+            -603.0829056803659,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1526.7358076507767,
+            -601.5829056803659,
+            69.33756051908847
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1529.33388386213,
+            -600.0829056803659,
+            69.33756051908847
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1552.0,
+            -580.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-2-49_155789224/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-2-49_155789224/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..acadde7604b5dbade51bca2568e32c545a9f4799
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-2-49_155789224/pose.jsonl
@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -919.7256835081396,
+            1513.4809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -922.323759719493,
+            1511.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -924.9218359308463,
+            1510.4809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -927.5199121421997,
+            1508.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -930.1179883535531,
+            1507.4809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -932.7160645649064,
+            1505.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -935.3141407762598,
+            1504.4809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -937.9122169876132,
+            1502.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -940.5102931989666,
+            1501.4809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -943.1083694103199,
+            1499.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -945.7064456216733,
+            1498.4809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -948.3045218330267,
+            1496.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -950.90259804438,
+            1495.4809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -953.5006742557334,
+            1493.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -956.0987504670868,
+            1492.4809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -958.6968266784402,
+            1490.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -961.2949028897935,
+            1489.4809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -963.8929791011469,
+            1487.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -966.4910553125003,
+            1486.4809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -969.0891315238537,
+            1484.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -971.687207735207,
+            1483.4809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -974.2852839465604,
+            1481.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -976.8833601579138,
+            1480.4809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -979.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -979.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -982.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -985.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -988.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -991.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -994.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -997.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1000.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1003.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1006.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1009.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1012.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1015.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1018.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1021.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1024.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1027.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1030.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1033.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1036.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1039.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1042.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1045.4814363692672,
+            1478.9809596739826,
+            55.237135606340864
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1084.0,
+            1468.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-24-15_1411154259/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-24-15_1411154259/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cb41add9e83e5a037569ed51448a34385dc089d5
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-24-15_1411154259/pose.jsonl
@@ -0,0 +1,730 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1845.45583006812,
+            -609.3733779314402,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1843.95583006812,
+            -611.9714541427936,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1842.45583006812,
+            -614.569530354147,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1840.95583006812,
+            -617.1676065655004,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1839.45583006812,
+            -619.7656827768537,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1837.95583006812,
+            -622.3637589882071,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1836.45583006812,
+            -624.9618351995605,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1834.95583006812,
+            -627.5599114109139,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1833.45583006812,
+            -630.1579876222672,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1831.95583006812,
+            -632.7560638336206,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1830.45583006812,
+            -635.354140044974,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1828.95583006812,
+            -637.9522162563273,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1827.45583006812,
+            -640.5502924676807,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1825.95583006812,
+            -643.1483686790341,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1824.45583006812,
+            -645.7464448903875,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1822.95583006812,
+            -648.3445211017408,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1821.45583006812,
+            -650.9425973130942,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1819.95583006812,
+            -653.5406735244476,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1818.45583006812,
+            -656.138749735801,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1816.95583006812,
+            -658.7368259471543,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1815.45583006812,
+            -661.3349021585077,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1813.95583006812,
+            -663.9329783698611,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1812.45583006812,
+            -666.5310545812144,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1810.95583006812,
+            -669.1291307925678,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1809.45583006812,
+            -671.7272070039212,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1807.95583006812,
+            -674.3252832152746,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1806.45583006812,
+            -676.9233594266279,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1804.95583006812,
+            -679.5214356379813,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1803.45583006812,
+            -682.1195118493347,
+            66.78650039783258
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1803.45583006812,
+            -682.1195118493347,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1800.8577538567665,
+            -683.6195118493347,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1798.2596776454131,
+            -685.1195118493347,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1795.6616014340598,
+            -686.6195118493347,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1793.0635252227064,
+            -688.1195118493347,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1790.465449011353,
+            -689.6195118493347,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1787.8673727999997,
+            -691.1195118493347,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1785.2692965886463,
+            -692.6195118493347,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1782.671220377293,
+            -694.1195118493347,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1780.0731441659395,
+            -695.6195118493347,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1777.4750679545862,
+            -697.1195118493347,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1774.8769917432328,
+            -698.6195118493347,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1772.2789155318794,
+            -700.1195118493347,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1769.680839320526,
+            -701.6195118493347,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1767.0827631091727,
+            -703.1195118493347,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1764.4846868978193,
+            -704.6195118493347,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1761.886610686466,
+            -706.1195118493347,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1759.2885344751126,
+            -707.6195118493347,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1756.6904582637592,
+            -709.1195118493347,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1754.0923820524058,
+            -710.6195118493347,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1751.4943058410524,
+            -712.1195118493347,
+            66.78650039783258
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1751.4943058410524,
+            -712.1195118493347,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1749.9943058410524,
+            -714.7175880606881,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1748.4943058410524,
+            -717.3156642720414,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1746.9943058410524,
+            -719.9137404833948,
+            66.78650039783258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1745.4943058410524,
+            -722.5118166947482,
+            66.78650039783258
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1732.0,
+            -736.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-24-50_1737518944/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-24-50_1737518944/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..67d13b178ac3b845338a101241ef261aefd4098f
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-24-50_1737518944/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            2707.322502270215,
+            2032.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            2710.322502270215,
+            2032.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            2713.322502270215,
+            2032.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            2716.322502270215,
+            2032.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            2719.322502270215,
+            2032.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            2722.322502270215,
+            2032.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            2725.322502270215,
+            2032.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            2728.322502270215,
+            2032.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            2731.322502270215,
+            2032.8102518992946,
+            45.87867187125771
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            2731.322502270215,
+            2032.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            2733.920578481568,
+            2031.3102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            2736.5186546929212,
+            2029.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            2739.1167309042744,
+            2028.3102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            2741.7148071156275,
+            2026.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            2744.3128833269807,
+            2025.3102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            2746.910959538334,
+            2023.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            2749.509035749687,
+            2022.3102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            2752.10711196104,
+            2020.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            2754.7051881723933,
+            2019.3102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            2757.3032643837464,
+            2017.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            2759.9013405950996,
+            2016.3102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            2762.4994168064527,
+            2014.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            2765.097493017806,
+            2013.3102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            2767.695569229159,
+            2011.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            2770.293645440512,
+            2010.3102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            2772.8917216518653,
+            2008.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            2775.4897978632184,
+            2007.3102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            2778.0878740745716,
+            2005.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            2780.6859502859247,
+            2004.3102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            2783.284026497278,
+            2002.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            2785.882102708631,
+            2001.3102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            2788.480178919984,
+            1999.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            2791.0782551313373,
+            1998.3102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            2793.6763313426904,
+            1996.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            2796.2744075540436,
+            1995.3102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            2798.8724837653967,
+            1993.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            2801.47055997675,
+            1992.3102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            2804.068636188103,
+            1990.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            2806.666712399456,
+            1989.3102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            2809.2647886108093,
+            1987.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            2811.8628648221625,
+            1986.3102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            2814.4609410335156,
+            1984.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            2817.0590172448688,
+            1983.3102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            2819.657093456222,
+            1981.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            2822.255169667575,
+            1980.3102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            2824.853245878928,
+            1978.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            2827.4513220902813,
+            1977.3102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            2830.0493983016345,
+            1975.8102518992946,
+            45.87867187125771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            2832.6474745129876,
+            1974.3102518992946,
+            45.87867187125771
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            2868.0,
+            1956.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-36-21_212251746/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-36-21_212251746/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4615dbbf9c6cc1cc9191cc8cdee54837d4d2c6bd
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-36-21_212251746/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1036.5203502801053,
+            1268.3238260422063,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1035.0203502801053,
+            1265.725749830853,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1033.5203502801053,
+            1263.1276736194995,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1032.0203502801053,
+            1260.5295974081462,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1030.5203502801053,
+            1257.9315211967928,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1029.0203502801053,
+            1255.3334449854394,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1027.5203502801053,
+            1252.735368774086,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1026.0203502801053,
+            1250.1372925627327,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1024.5203502801053,
+            1247.5392163513793,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1023.0203502801053,
+            1244.941140140026,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1021.5203502801053,
+            1242.3430639286726,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1020.0203502801053,
+            1239.7449877173192,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1018.5203502801053,
+            1237.1469115059658,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1017.0203502801053,
+            1234.5488352946124,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1015.5203502801053,
+            1231.950759083259,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1014.0203502801053,
+            1229.3526828719057,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1012.5203502801053,
+            1226.7546066605523,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1011.0203502801053,
+            1224.156530449199,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1009.5203502801053,
+            1221.5584542378456,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1008.0203502801053,
+            1218.9603780264922,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1006.5203502801053,
+            1216.3623018151388,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1005.0203502801053,
+            1213.7642256037855,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1003.5203502801053,
+            1211.166149392432,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1002.0203502801053,
+            1208.5680731810787,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1000.5203502801053,
+            1205.9699969697253,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -999.0203502801053,
+            1203.371920758372,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -997.5203502801053,
+            1200.7738445470186,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -996.0203502801053,
+            1198.1757683356652,
+            45.110968041929446
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -996.0203502801053,
+            1198.1757683356652,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -993.4222740687519,
+            1196.6757683356652,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -990.8241978573985,
+            1195.1757683356652,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -988.2261216460452,
+            1193.6757683356652,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -985.6280454346918,
+            1192.1757683356652,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -983.0299692233384,
+            1190.6757683356652,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -980.431893011985,
+            1189.1757683356652,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -977.8338168006317,
+            1187.6757683356652,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -975.2357405892783,
+            1186.1757683356652,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -972.6376643779249,
+            1184.6757683356652,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -970.0395881665715,
+            1183.1757683356652,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -967.4415119552182,
+            1181.6757683356652,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -964.8434357438648,
+            1180.1757683356652,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -962.2453595325114,
+            1178.6757683356652,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -959.647283321158,
+            1177.1757683356652,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -957.0492071098047,
+            1175.6757683356652,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -954.4511308984513,
+            1174.1757683356652,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -951.8530546870979,
+            1172.6757683356652,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -949.2549784757446,
+            1171.1757683356652,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -946.6569022643912,
+            1169.6757683356652,
+            45.110968041929446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -944.0588260530378,
+            1168.1757683356652,
+            45.110968041929446
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -928.0,
+            1152.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-42-33_1671294892/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-42-33_1671294892/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8e2cca6c71d8bcafd958f517eb27ba7ec10ba9ce
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-42-33_1671294892/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1291.0896757879977,
+            -1013.2572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1293.6877519993511,
+            -1011.7572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1296.2858282107045,
+            -1010.2572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1298.8839044220579,
+            -1008.7572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1301.4819806334112,
+            -1007.2572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1304.0800568447646,
+            -1005.7572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1306.678133056118,
+            -1004.2572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1309.2762092674714,
+            -1002.7572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1311.8742854788247,
+            -1001.2572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1314.472361690178,
+            -999.7572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1317.0704379015315,
+            -998.2572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1319.6685141128848,
+            -996.7572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1322.2665903242382,
+            -995.2572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1324.8646665355916,
+            -993.7572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1327.462742746945,
+            -992.2572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1330.0608189582983,
+            -990.7572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1332.6588951696517,
+            -989.2572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1335.256971381005,
+            -987.7572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1337.8550475923585,
+            -986.2572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1340.4531238037118,
+            -984.7572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1343.0512000150652,
+            -983.2572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1345.6492762264186,
+            -981.7572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1348.247352437772,
+            -980.2572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1350.8454286491253,
+            -978.7572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1353.4435048604787,
+            -977.2572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1356.041581071832,
+            -975.7572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1358.6396572831854,
+            -974.2572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1361.2377334945388,
+            -972.7572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1363.8358097058922,
+            -971.2572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1366.4338859172456,
+            -969.7572858991667,
+            41.0973724171476
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1366.4338859172456,
+            -969.7572858991667,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1367.9338859172456,
+            -967.1592096878135,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1369.4338859172456,
+            -964.5611334764601,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1370.9338859172456,
+            -961.9630572651067,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1372.4338859172456,
+            -959.3649810537534,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1373.9338859172456,
+            -956.7669048424,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1375.4338859172456,
+            -954.1688286310466,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1376.9338859172456,
+            -951.5707524196932,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1378.4338859172456,
+            -948.9726762083399,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1379.9338859172456,
+            -946.3745999969865,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1381.4338859172456,
+            -943.7765237856331,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1382.9338859172456,
+            -941.1784475742797,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1384.4338859172456,
+            -938.5803713629264,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1385.9338859172456,
+            -935.982295151573,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1387.4338859172456,
+            -933.3842189402196,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1388.9338859172456,
+            -930.7861427288663,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1390.4338859172456,
+            -928.1880665175129,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1391.9338859172456,
+            -925.5899903061595,
+            41.0973724171476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1393.4338859172456,
+            -922.9919140948061,
+            41.0973724171476
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1416.0,
+            -900.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-43-4_1344247686/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-43-4_1344247686/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..128cc16f4193048155bfbc2e10bc602e77b3eb1a
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-43-4_1344247686/pose.jsonl
@@ -0,0 +1,743 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            2260.5930879300477,
+            -2958.1247840705423,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            2263.5930879300477,
+            -2958.1247840705423,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            2266.5930879300477,
+            -2958.1247840705423,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            2269.5930879300477,
+            -2958.1247840705423,
+            53.30983409156692
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            2269.5930879300477,
+            -2958.1247840705423,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            2272.191164141401,
+            -2959.6247840705423,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            2274.789240352754,
+            -2961.1247840705423,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            2277.387316564107,
+            -2962.6247840705423,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            2279.9853927754602,
+            -2964.1247840705423,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            2282.5834689868134,
+            -2965.6247840705423,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            2285.1815451981665,
+            -2967.1247840705423,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            2287.7796214095197,
+            -2968.6247840705423,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            2290.377697620873,
+            -2970.1247840705423,
+            53.30983409156692
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            2290.377697620873,
+            -2970.1247840705423,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196626
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            2291.877697620873,
+            -2972.7228602818955,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            2293.377697620873,
+            -2975.3209364932486,
+            53.30983409156692
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            2293.377697620873,
+            -2975.3209364932486,
+            53.30983409156692
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            2293.377697620873,
+            -2975.3209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.8199664825478976e-14
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            2296.377697620873,
+            -2975.3209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            2299.377697620873,
+            -2975.3209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            2302.377697620873,
+            -2975.3209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            2305.377697620873,
+            -2975.3209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            2308.377697620873,
+            -2975.3209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            2311.377697620873,
+            -2975.3209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            2314.377697620873,
+            -2975.3209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            2317.377697620873,
+            -2975.3209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            2320.377697620873,
+            -2975.3209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            2323.377697620873,
+            -2975.3209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            2326.377697620873,
+            -2975.3209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            2329.377697620873,
+            -2975.3209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            2332.377697620873,
+            -2975.3209364932486,
+            53.30983409156692
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            2332.377697620873,
+            -2975.3209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            2334.975773832226,
+            -2973.8209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            2337.573850043579,
+            -2972.3209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            2340.1719262549323,
+            -2970.8209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            2342.7700024662854,
+            -2969.3209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            2345.3680786776386,
+            -2967.8209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            2347.9661548889917,
+            -2966.3209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            2350.564231100345,
+            -2964.8209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            2353.162307311698,
+            -2963.3209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            2355.760383523051,
+            -2961.8209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            2358.3584597344043,
+            -2960.3209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            2360.9565359457574,
+            -2958.8209364932486,
+            53.30983409156692
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            2360.9565359457574,
+            -2958.8209364932486,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196626
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            2362.4565359457574,
+            -2956.2228602818955,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            2363.9565359457574,
+            -2953.6247840705423,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            2365.4565359457574,
+            -2951.026707859189,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            2366.9565359457574,
+            -2948.428631647836,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            2368.4565359457574,
+            -2945.830555436483,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            2369.9565359457574,
+            -2943.2324792251297,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            2371.4565359457574,
+            -2940.6344030137766,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            2372.9565359457574,
+            -2938.0363268024234,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            2374.4565359457574,
+            -2935.4382505910703,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            2375.9565359457574,
+            -2932.840174379717,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            2377.4565359457574,
+            -2930.242098168364,
+            53.30983409156692
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            2378.9565359457574,
+            -2927.644021957011,
+            53.30983409156692
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            2420.0,
+            -2916.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-51-1_332266748/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-51-1_332266748/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2e5f1aaa6d9d6edb14065f196820a44b3800ac08
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-51-1_332266748/pose.jsonl
@@ -0,0 +1,54 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1115.56739247628,
+            2494.755911690197,
+            48.520868850456715
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1118.1654686876334,
+            2496.255911690197,
+            48.520868850456715
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1120.7635448989868,
+            2497.755911690197,
+            48.520868850456715
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1252.0,
+            2604.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-53-40_559301039/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-53-40_559301039/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a35435fe301be222a15f026a5270b531b27717fa
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-53-40_559301039/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1358.3511396375593,
+            1554.858924434035,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1359.8511396375593,
+            1557.4570006453885,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1361.3511396375593,
+            1560.0550768567418,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1362.8511396375593,
+            1562.6531530680952,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1364.3511396375593,
+            1565.2512292794486,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1365.8511396375593,
+            1567.849305490802,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1367.3511396375593,
+            1570.4473817021553,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1368.8511396375593,
+            1573.0454579135087,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1370.3511396375593,
+            1575.643534124862,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1371.8511396375593,
+            1578.2416103362154,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1373.3511396375593,
+            1580.8396865475688,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1374.8511396375593,
+            1583.4377627589222,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1376.3511396375593,
+            1586.0358389702756,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1377.8511396375593,
+            1588.633915181629,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1379.3511396375593,
+            1591.2319913929823,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1380.8511396375593,
+            1593.8300676043357,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1382.3511396375593,
+            1596.428143815689,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1383.8511396375593,
+            1599.0262200270424,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1385.3511396375593,
+            1601.6242962383958,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1386.8511396375593,
+            1604.2223724497492,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1388.3511396375593,
+            1606.8204486611025,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1389.8511396375593,
+            1609.418524872456,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1391.3511396375593,
+            1612.0166010838093,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1392.8511396375593,
+            1614.6146772951627,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1394.3511396375593,
+            1617.212753506516,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1395.8511396375593,
+            1619.8108297178694,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1397.3511396375593,
+            1622.4089059292228,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1398.8511396375593,
+            1625.0069821405762,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1400.3511396375593,
+            1627.6050583519295,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1401.8511396375593,
+            1630.203134563283,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1403.3511396375593,
+            1632.8012107746363,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1404.8511396375593,
+            1635.3992869859896,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1406.3511396375593,
+            1637.997363197343,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1407.8511396375593,
+            1640.5954394086964,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1409.3511396375593,
+            1643.1935156200498,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1410.8511396375593,
+            1645.7915918314031,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1412.3511396375593,
+            1648.3896680427565,
+            53.27016229128365
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1412.3511396375593,
+            1648.3896680427565,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1412.3511396375593,
+            1651.3896680427565,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1412.3511396375593,
+            1654.3896680427565,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1412.3511396375593,
+            1657.3896680427565,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1412.3511396375593,
+            1660.3896680427565,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1412.3511396375593,
+            1663.3896680427565,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1412.3511396375593,
+            1666.3896680427565,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1412.3511396375593,
+            1669.3896680427565,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1412.3511396375593,
+            1672.3896680427565,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1412.3511396375593,
+            1675.3896680427565,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1412.3511396375593,
+            1678.3896680427565,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1412.3511396375593,
+            1681.3896680427565,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1412.3511396375593,
+            1684.3896680427565,
+            53.27016229128365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1412.3511396375593,
+            1687.3896680427565,
+            53.27016229128365
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1420.0,
+            1708.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-55-19_1473144500/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-55-19_1473144500/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5adcf79359ef56f871fdd5e4b40438d98da00617
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-55-19_1473144500/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1357.1699718182551,
+            1085.9526222629727,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1355.6699718182551,
+            1083.3545460516193,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1354.1699718182551,
+            1080.756469840266,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1352.6699718182551,
+            1078.1583936289126,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1351.1699718182551,
+            1075.5603174175592,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1349.6699718182551,
+            1072.9622412062058,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1348.1699718182551,
+            1070.3641649948524,
+            66.80346908383898
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1348.1699718182551,
+            1070.3641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1345.5718956069018,
+            1068.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1342.9738193955484,
+            1067.3641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1340.375743184195,
+            1065.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1337.7776669728416,
+            1064.3641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1335.1795907614883,
+            1062.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1332.581514550135,
+            1061.3641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1329.9834383387815,
+            1059.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1327.3853621274282,
+            1058.3641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1324.7872859160748,
+            1056.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1322.1892097047214,
+            1055.3641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1319.591133493368,
+            1053.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1316.9930572820147,
+            1052.3641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1314.3949810706613,
+            1050.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1311.796904859308,
+            1049.3641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1309.1988286479545,
+            1047.8641649948524,
+            66.80346908383898
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1309.1988286479545,
+            1047.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1306.1988286479545,
+            1047.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1303.1988286479545,
+            1047.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1300.1988286479545,
+            1047.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1297.1988286479545,
+            1047.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1294.1988286479545,
+            1047.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1291.1988286479545,
+            1047.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1288.1988286479545,
+            1047.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1285.1988286479545,
+            1047.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1282.1988286479545,
+            1047.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1279.1988286479545,
+            1047.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1276.1988286479545,
+            1047.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1273.1988286479545,
+            1047.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1270.1988286479545,
+            1047.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1267.1988286479545,
+            1047.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1264.1988286479545,
+            1047.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1261.1988286479545,
+            1047.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1258.1988286479545,
+            1047.8641649948524,
+            66.80346908383898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1255.1988286479545,
+            1047.8641649948524,
+            66.80346908383898
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1208.0,
+            1028.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-58-46_1380171692/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-58-46_1380171692/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..24e5e8f4857134864106f54d22be1113213186be
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_15-58-46_1380171692/pose.jsonl
@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1842.515839059645,
+            -1880.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1842.515839059645,
+            -1877.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1842.515839059645,
+            -1874.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1842.515839059645,
+            -1871.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1842.515839059645,
+            -1868.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1842.515839059645,
+            -1865.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1842.515839059645,
+            -1862.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1842.515839059645,
+            -1859.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1842.515839059645,
+            -1856.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1842.515839059645,
+            -1853.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1842.515839059645,
+            -1850.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1842.515839059645,
+            -1847.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1842.515839059645,
+            -1844.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1842.515839059645,
+            -1841.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1842.515839059645,
+            -1838.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1842.515839059645,
+            -1835.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1842.515839059645,
+            -1832.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1842.515839059645,
+            -1829.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1842.515839059645,
+            -1826.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1842.515839059645,
+            -1823.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1842.515839059645,
+            -1820.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1842.515839059645,
+            -1817.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1842.515839059645,
+            -1814.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1842.515839059645,
+            -1811.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1842.515839059645,
+            -1808.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1842.515839059645,
+            -1805.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1842.515839059645,
+            -1802.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1842.515839059645,
+            -1799.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1842.515839059645,
+            -1796.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1842.515839059645,
+            -1793.55726279822,
+            67.16626488501245
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1842.515839059645,
+            -1793.55726279822,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1844.015839059645,
+            -1790.9591865868667,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1845.515839059645,
+            -1788.3611103755134,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1847.015839059645,
+            -1785.76303416416,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1848.515839059645,
+            -1783.1649579528066,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1850.015839059645,
+            -1780.5668817414532,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1851.515839059645,
+            -1777.9688055300999,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1853.015839059645,
+            -1775.3707293187465,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1854.515839059645,
+            -1772.7726531073931,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1856.015839059645,
+            -1770.1745768960398,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1857.515839059645,
+            -1767.5765006846864,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1859.015839059645,
+            -1764.978424473333,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1860.515839059645,
+            -1762.3803482619796,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1862.015839059645,
+            -1759.7822720506263,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1863.515839059645,
+            -1757.184195839273,
+            67.16626488501245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1865.015839059645,
+            -1754.5861196279195,
+            67.16626488501245
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1872.0,
+            -1720.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_16-16-9_1586903190/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_16-16-9_1586903190/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..772136c5f12ffc580f37e6aaa5bfbf4777032ce9
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_16-16-9_1586903190/pose.jsonl
@@ -0,0 +1,821 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            254.14079224332784,
+            -164.69416915049686,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            255.64079224332784,
+            -167.29224536185018,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            257.14079224332784,
+            -169.8903215732035,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            258.64079224332784,
+            -172.4883977845568,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            260.14079224332784,
+            -175.08647399591013,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            261.64079224332784,
+            -177.68455020726344,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            263.14079224332784,
+            -180.28262641861676,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            264.64079224332784,
+            -182.88070262997007,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            266.14079224332784,
+            -185.4787788413234,
+            60.542033049209266
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            266.14079224332784,
+            -185.4787788413234,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            266.14079224332784,
+            -188.4787788413234,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            266.14079224332784,
+            -191.4787788413234,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            266.14079224332784,
+            -194.4787788413234,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            266.14079224332784,
+            -197.4787788413234,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            266.14079224332784,
+            -200.4787788413234,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            266.14079224332784,
+            -203.4787788413234,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            266.14079224332784,
+            -206.4787788413234,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            266.14079224332784,
+            -209.4787788413234,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            266.14079224332784,
+            -212.4787788413234,
+            60.542033049209266
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            266.14079224332784,
+            -212.4787788413234,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            264.64079224332784,
+            -215.0768550526767,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            263.14079224332784,
+            -217.67493126403002,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            261.64079224332784,
+            -220.27300747538334,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            260.14079224332784,
+            -222.87108368673665,
+            60.542033049209266
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            260.14079224332784,
+            -222.87108368673665,
+            60.542033049209266
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            260.14079224332784,
+            -222.87108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            257.14079224332784,
+            -222.87108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            254.14079224332784,
+            -222.87108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            251.14079224332784,
+            -222.87108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            248.14079224332784,
+            -222.87108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            245.14079224332784,
+            -222.87108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            242.14079224332784,
+            -222.87108368673665,
+            60.542033049209266
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            242.14079224332784,
+            -222.87108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            239.54271603197452,
+            -224.37108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            236.9446398206212,
+            -225.87108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            234.3465636092679,
+            -227.37108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            231.74848739791457,
+            -228.87108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            229.15041118656126,
+            -230.37108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            226.55233497520794,
+            -231.87108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            223.95425876385463,
+            -233.37108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            221.3561825525013,
+            -234.87108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            218.758106341148,
+            -236.37108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            216.16003012979468,
+            -237.87108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            213.56195391844136,
+            -239.37108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            210.96387770708805,
+            -240.87108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            208.36580149573473,
+            -242.37108368673665,
+            60.542033049209266
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            208.36580149573473,
+            -242.37108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            205.36580149573473,
+            -242.37108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            202.36580149573473,
+            -242.37108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            199.36580149573473,
+            -242.37108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            196.36580149573473,
+            -242.37108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            193.36580149573473,
+            -242.37108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            190.36580149573473,
+            -242.37108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            187.36580149573473,
+            -242.37108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            184.36580149573473,
+            -242.37108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            181.36580149573473,
+            -242.37108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            178.36580149573473,
+            -242.37108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            175.36580149573473,
+            -242.37108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            172.36580149573473,
+            -242.37108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            169.36580149573473,
+            -242.37108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            166.36580149573473,
+            -242.37108368673665,
+            60.542033049209266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            163.36580149573473,
+            -242.37108368673665,
+            60.542033049209266
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            136.0,
+            -264.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_16-2-29_70636429/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_16-2-29_70636429/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b3ad1423d3b2f7ad5361c234d97c7039ee9bb03a
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_16-2-29_70636429/pose.jsonl
@@ -0,0 +1,600 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            11.919541542203632,
+            -122.5467980756076,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            14.919541542203632,
+            -122.5467980756076,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            17.919541542203632,
+            -122.5467980756076,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            20.919541542203632,
+            -122.5467980756076,
+            59.73129520947653
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            20.919541542203632,
+            -122.5467980756076,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            23.517617753556948,
+            -124.0467980756076,
+            59.73129520947653
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            23.517617753556948,
+            -124.0467980756076,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            25.017617753556948,
+            -126.64487428696091,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            26.517617753556948,
+            -129.24295049831423,
+            59.73129520947653
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            26.517617753556948,
+            -129.24295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            29.115693964910264,
+            -130.74295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            31.71377017626358,
+            -132.24295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            34.311846387616896,
+            -133.74295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            36.90992259897021,
+            -135.24295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            39.50799881032353,
+            -136.74295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            42.106075021676844,
+            -138.24295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            44.70415123303016,
+            -139.74295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            47.302227444383476,
+            -141.24295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            49.90030365573679,
+            -142.74295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            52.49837986709011,
+            -144.24295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            55.096456078443424,
+            -145.74295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            57.69453228979674,
+            -147.24295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            60.292608501150056,
+            -148.74295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            62.89068471250337,
+            -150.24295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            65.48876092385669,
+            -151.74295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            68.08683713521,
+            -153.24295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            70.68491334656332,
+            -154.74295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            73.28298955791664,
+            -156.24295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            75.88106576926995,
+            -157.74295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            78.47914198062327,
+            -159.24295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            81.07721819197658,
+            -160.74295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            83.6752944033299,
+            -162.24295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            86.27337061468322,
+            -163.74295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            88.87144682603653,
+            -165.24295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            91.46952303738985,
+            -166.74295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            94.06759924874316,
+            -168.24295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            96.66567546009648,
+            -169.74295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            99.2637516714498,
+            -171.24295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            101.86182788280311,
+            -172.74295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            104.45990409415643,
+            -174.24295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            107.05798030550974,
+            -175.74295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            109.65605651686306,
+            -177.24295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            112.25413272821638,
+            -178.74295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            114.85220893956969,
+            -180.24295049831423,
+            59.73129520947653
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            117.45028515092301,
+            -181.74295049831423,
+            59.73129520947653
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            152.0,
+            -200.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_16-21-52_2137390358/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_16-21-52_2137390358/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..58d920bc8ed1837e789cea43aa43f8a3b8a911ce
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_16-21-52_2137390358/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            2062.9404916435283,
+            459.46048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            2060.342415432175,
+            460.96048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            2057.744339220822,
+            462.46048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            2055.146263009469,
+            463.96048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            2052.5481867981157,
+            465.46048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            2049.9501105867625,
+            466.96048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            2047.3520343754092,
+            468.46048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            2044.7539581640558,
+            469.96048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            2042.1558819527024,
+            471.46048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            2039.557805741349,
+            472.96048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            2036.9597295299957,
+            474.46048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            2034.3616533186423,
+            475.96048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            2031.763577107289,
+            477.46048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            2029.1655008959356,
+            478.96048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            2026.5674246845822,
+            480.46048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            2023.9693484732288,
+            481.96048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            2021.3712722618754,
+            483.46048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            2018.773196050522,
+            484.96048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            2016.1751198391687,
+            486.46048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            2013.5770436278153,
+            487.96048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            2010.978967416462,
+            489.46048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            2008.3808912051086,
+            490.96048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            2005.7828149937552,
+            492.46048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            2003.1847387824018,
+            493.96048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            2000.5866625710485,
+            495.46048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1997.988586359695,
+            496.96048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1995.3905101483417,
+            498.46048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1992.7924339369883,
+            499.96048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1990.194357725635,
+            501.46048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1987.5962815142816,
+            502.96048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1984.9982053029282,
+            504.46048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1982.4001290915749,
+            505.96048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1979.8020528802215,
+            507.46048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1977.203976668868,
+            508.96048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1974.6059004575147,
+            510.46048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1972.0078242461614,
+            511.96048470693245,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1969.409748034808,
+            513.4604847069324,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1966.8116718234546,
+            514.9604847069324,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1964.2135956121012,
+            516.4604847069324,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1961.6155194007479,
+            517.9604847069324,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1959.0174431893945,
+            519.4604847069324,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1956.4193669780411,
+            520.9604847069324,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1953.8212907666878,
+            522.4604847069324,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1951.2232145553344,
+            523.9604847069324,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1948.625138343981,
+            525.4604847069324,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1946.0270621326276,
+            526.9604847069324,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1943.4289859212743,
+            528.4604847069324,
+            50.872849500821594
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1943.4289859212743,
+            528.4604847069324,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1941.9289859212743,
+            531.0585609182858,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1940.4289859212743,
+            533.6566371296392,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1938.9289859212743,
+            536.2547133409926,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1937.4289859212743,
+            538.8527895523459,
+            50.872849500821594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1935.9289859212743,
+            541.4508657636993,
+            50.872849500821594
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1912.0,
+            556.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_16-26-37_1297893529/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_16-26-37_1297893529/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9bb00760112da65079652d79cdfdf63090ca6984
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_16-26-37_1297893529/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1555.807110976133,
+            -1176.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1555.807110976133,
+            -1179.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1555.807110976133,
+            -1182.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1555.807110976133,
+            -1185.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1555.807110976133,
+            -1188.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1555.807110976133,
+            -1191.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1555.807110976133,
+            -1194.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1555.807110976133,
+            -1197.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1555.807110976133,
+            -1200.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1555.807110976133,
+            -1203.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1555.807110976133,
+            -1206.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1555.807110976133,
+            -1209.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1555.807110976133,
+            -1212.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1555.807110976133,
+            -1215.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1555.807110976133,
+            -1218.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1555.807110976133,
+            -1221.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1555.807110976133,
+            -1224.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1555.807110976133,
+            -1227.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1555.807110976133,
+            -1230.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1555.807110976133,
+            -1233.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1555.807110976133,
+            -1236.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1555.807110976133,
+            -1239.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1555.807110976133,
+            -1242.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1555.807110976133,
+            -1245.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1555.807110976133,
+            -1248.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1555.807110976133,
+            -1251.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1555.807110976133,
+            -1254.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1555.807110976133,
+            -1257.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1555.807110976133,
+            -1260.7791181728574,
+            55.02846549896053
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1555.807110976133,
+            -1260.7791181728574,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1554.307110976133,
+            -1263.3771943842107,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1552.807110976133,
+            -1265.975270595564,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1551.307110976133,
+            -1268.5733468069175,
+            55.02846549896053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1549.807110976133,
+            -1271.1714230182708,
+            55.02846549896053
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1544.0,
+            -1336.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_16-3-23_1472576335/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_16-3-23_1472576335/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fb6b6f8803790373aeeeb7c71e8904620e3673de
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_16-3-23_1472576335/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1619.9335362304869,
+            -935.5454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1622.5316124418403,
+            -934.0454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1625.1296886531936,
+            -932.5454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1627.727764864547,
+            -931.0454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1630.3258410759004,
+            -929.5454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1632.9239172872537,
+            -928.0454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1635.5219934986071,
+            -926.5454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1638.1200697099605,
+            -925.0454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1640.7181459213139,
+            -923.5454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1643.3162221326672,
+            -922.0454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1645.9142983440206,
+            -920.5454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1648.512374555374,
+            -919.0454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1651.1104507667274,
+            -917.5454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1653.7085269780807,
+            -916.0454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1656.306603189434,
+            -914.5454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1658.9046794007875,
+            -913.0454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1661.5027556121408,
+            -911.5454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1664.1008318234942,
+            -910.0454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1666.6989080348476,
+            -908.5454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1669.296984246201,
+            -907.0454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1671.8950604575543,
+            -905.5454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1674.4931366689077,
+            -904.0454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1677.091212880261,
+            -902.5454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1679.6892890916145,
+            -901.0454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1682.2873653029678,
+            -899.5454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1684.8854415143212,
+            -898.0454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1687.4835177256746,
+            -896.5454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1690.081593937028,
+            -895.0454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1692.6796701483813,
+            -893.5454873972462,
+            40.63535529898151
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1692.6796701483813,
+            -893.5454873972462,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1694.1796701483813,
+            -890.9474111858929,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1695.6796701483813,
+            -888.3493349745395,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1697.1796701483813,
+            -885.7512587631861,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1698.6796701483813,
+            -883.1531825518327,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1700.1796701483813,
+            -880.5551063404794,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1701.6796701483813,
+            -877.957030129126,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1703.1796701483813,
+            -875.3589539177726,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1704.6796701483813,
+            -872.7608777064193,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1706.1796701483813,
+            -870.1628014950659,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1707.6796701483813,
+            -867.5647252837125,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1709.1796701483813,
+            -864.9666490723591,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1710.6796701483813,
+            -862.3685728610058,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1712.1796701483813,
+            -859.7704966496524,
+            40.63535529898151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1713.6796701483813,
+            -857.172420438299,
+            40.63535529898151
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1744.0,
+            -832.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_16-34-56_241909610/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_16-34-56_241909610/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8e77ff348c437eaa6809bf65aa60952c85a37e1a
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_16-34-56_241909610/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -2273.237561139984,
+            2184.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -2273.237561139984,
+            2181.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -2273.237561139984,
+            2178.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -2273.237561139984,
+            2175.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -2273.237561139984,
+            2172.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -2273.237561139984,
+            2169.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -2273.237561139984,
+            2166.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -2273.237561139984,
+            2163.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -2273.237561139984,
+            2160.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -2273.237561139984,
+            2157.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -2273.237561139984,
+            2154.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -2273.237561139984,
+            2151.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -2273.237561139984,
+            2148.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -2273.237561139984,
+            2145.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -2273.237561139984,
+            2142.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -2273.237561139984,
+            2139.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -2273.237561139984,
+            2136.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -2273.237561139984,
+            2133.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -2273.237561139984,
+            2130.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -2273.237561139984,
+            2127.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -2273.237561139984,
+            2124.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -2273.237561139984,
+            2121.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -2273.237561139984,
+            2118.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -2273.237561139984,
+            2115.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -2273.237561139984,
+            2112.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -2273.237561139984,
+            2109.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -2273.237561139984,
+            2106.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -2273.237561139984,
+            2103.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -2273.237561139984,
+            2100.639345763998,
+            61.03232088871704
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -2273.237561139984,
+            2100.639345763998,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -2274.737561139984,
+            2098.0412695526447,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -2276.237561139984,
+            2095.4431933412916,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -2277.737561139984,
+            2092.8451171299384,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -2279.237561139984,
+            2090.2470409185853,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -2280.737561139984,
+            2087.648964707232,
+            61.03232088871704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -2282.237561139984,
+            2085.050888495879,
+            61.03232088871704
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -2288.0,
+            2020.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-10-47_1983614030/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-10-47_1983614030/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..247ff78b3b8a07c3f002cb48e3b3fa752cb7d197
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-10-47_1983614030/pose.jsonl
@@ -0,0 +1,717 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1686.9010389797854,
+            -127.43315285061172,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1684.302962768432,
+            -125.93315285061172,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1681.7048865570787,
+            -124.43315285061172,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1679.1068103457253,
+            -122.93315285061172,
+            62.898036900191585
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1679.1068103457253,
+            -122.93315285061172,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1677.6068103457253,
+            -120.3350766392584,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1676.1068103457253,
+            -117.73700042790509,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1674.6068103457253,
+            -115.13892421655177,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1673.1068103457253,
+            -112.54084800519846,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1671.6068103457253,
+            -109.94277179384514,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1670.1068103457253,
+            -107.34469558249182,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1668.6068103457253,
+            -104.74661937113851,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1667.1068103457253,
+            -102.14854315978519,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1665.6068103457253,
+            -99.55046694843188,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1664.1068103457253,
+            -96.95239073707856,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1662.6068103457253,
+            -94.35431452572524,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1661.1068103457253,
+            -91.75623831437193,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1659.6068103457253,
+            -89.15816210301861,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1658.1068103457253,
+            -86.5600858916653,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1656.6068103457253,
+            -83.96200968031198,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1655.1068103457253,
+            -81.36393346895866,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1653.6068103457253,
+            -78.76585725760535,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1652.1068103457253,
+            -76.16778104625203,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1650.6068103457253,
+            -73.56970483489872,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1649.1068103457253,
+            -70.9716286235454,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1647.6068103457253,
+            -68.37355241219208,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1646.1068103457253,
+            -65.77547620083877,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1644.6068103457253,
+            -63.17739998948545,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1643.1068103457253,
+            -60.579323778132135,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1641.6068103457253,
+            -57.98124756677882,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1640.1068103457253,
+            -55.3831713554255,
+            62.898036900191585
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1640.1068103457253,
+            -55.3831713554255,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1637.508734134372,
+            -53.8831713554255,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1634.9106579230186,
+            -52.3831713554255,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1632.3125817116652,
+            -50.8831713554255,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1629.7145055003118,
+            -49.3831713554255,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1627.1164292889584,
+            -47.8831713554255,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1624.518353077605,
+            -46.3831713554255,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1621.9202768662517,
+            -44.8831713554255,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1619.3222006548983,
+            -43.3831713554255,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1616.724124443545,
+            -41.8831713554255,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1614.1260482321916,
+            -40.3831713554255,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1611.5279720208382,
+            -38.8831713554255,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1608.9298958094848,
+            -37.3831713554255,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1606.3318195981315,
+            -35.8831713554255,
+            62.898036900191585
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1606.3318195981315,
+            -35.8831713554255,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1603.3318195981315,
+            -35.8831713554255,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1600.3318195981315,
+            -35.8831713554255,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1597.3318195981315,
+            -35.8831713554255,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1594.3318195981315,
+            -35.8831713554255,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1591.3318195981315,
+            -35.8831713554255,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1588.3318195981315,
+            -35.8831713554255,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1585.3318195981315,
+            -35.8831713554255,
+            62.898036900191585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1582.3318195981315,
+            -35.8831713554255,
+            62.898036900191585
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1564.0,
+            -20.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-15-39_333582338/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-15-39_333582338/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7300a00788d1b38e8e13f3a911681c6502462b15
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-15-39_333582338/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1858.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1861.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1864.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1867.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1870.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1873.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1876.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1879.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1882.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1885.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1888.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1891.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1894.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1897.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1900.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1903.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1906.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1909.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1912.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1915.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1918.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1921.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1924.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1927.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1930.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1933.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1936.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1939.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1942.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1945.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1948.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1951.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1954.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1957.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1960.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1963.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1966.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1969.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1972.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1972.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1972.8094770214714,
+            1235.6958713072586,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1974.3094770214714,
+            1238.293947518612,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1975.8094770214714,
+            1240.8920237299653,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1977.3094770214714,
+            1243.4900999413187,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1978.8094770214714,
+            1246.088176152672,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1980.3094770214714,
+            1248.6862523640254,
+            57.73640130712526
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1980.3094770214714,
+            1248.6862523640254,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1982.9075532328247,
+            1250.1862523640254,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1985.505629444178,
+            1251.6862523640254,
+            57.73640130712526
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1988.1037056555315,
+            1253.1862523640254,
+            57.73640130712526
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            2012.0,
+            1256.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-16-33_1894519218/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-16-33_1894519218/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d545e02aa1803258d2a433977017588ed481943e
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-16-33_1894519218/pose.jsonl
@@ -0,0 +1,717 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            330.9341141001281,
+            579.5459406387522,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            329.4341141001281,
+            582.1440168501056,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            327.9341141001281,
+            584.742093061459,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            326.4341141001281,
+            587.3401692728123,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            324.9341141001281,
+            589.9382454841657,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            323.4341141001281,
+            592.5363216955191,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            321.9341141001281,
+            595.1343979068724,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            320.4341141001281,
+            597.7324741182258,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            318.9341141001281,
+            600.3305503295792,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            317.4341141001281,
+            602.9286265409326,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            315.9341141001281,
+            605.5267027522859,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            314.4341141001281,
+            608.1247789636393,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            312.9341141001281,
+            610.7228551749927,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            311.4341141001281,
+            613.320931386346,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            309.9341141001281,
+            615.9190075976994,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            308.4341141001281,
+            618.5170838090528,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            306.9341141001281,
+            621.1151600204062,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            305.4341141001281,
+            623.7132362317595,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            303.9341141001281,
+            626.3113124431129,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            302.4341141001281,
+            628.9093886544663,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            300.9341141001281,
+            631.5074648658197,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            299.4341141001281,
+            634.105541077173,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            297.9341141001281,
+            636.7036172885264,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            296.4341141001281,
+            639.3016934998798,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            294.9341141001281,
+            641.8997697112331,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            293.4341141001281,
+            644.4978459225865,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            291.9341141001281,
+            647.0959221339399,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            290.4341141001281,
+            649.6939983452933,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            288.9341141001281,
+            652.2920745566466,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            287.4341141001281,
+            654.890150768,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            285.9341141001281,
+            657.4882269793534,
+            69.47538174097205
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            285.9341141001281,
+            657.4882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            283.3360378887748,
+            658.9882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            280.7379616774215,
+            660.4882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            278.13988546606816,
+            661.9882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            275.54180925471485,
+            663.4882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            272.94373304336153,
+            664.9882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            270.3456568320082,
+            666.4882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            267.7475806206549,
+            667.9882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            265.1495044093016,
+            669.4882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            262.55142819794827,
+            670.9882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            259.95335198659495,
+            672.4882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            257.35527577524164,
+            673.9882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            254.75719956388832,
+            675.4882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            252.159123352535,
+            676.9882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            249.5610471411817,
+            678.4882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            246.96297092982837,
+            679.9882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            244.36489471847506,
+            681.4882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            241.76681850712174,
+            682.9882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            239.16874229576842,
+            684.4882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            236.5706660844151,
+            685.9882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            233.9725898730618,
+            687.4882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            231.37451366170848,
+            688.9882269793534,
+            69.47538174097205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            228.77643745035516,
+            690.4882269793534,
+            69.47538174097205
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            212.0,
+            712.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-19-29_2032894977/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-19-29_2032894977/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bc503482eb3feff6246e8d287f73f72df06d20fe
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-19-29_2032894977/pose.jsonl
@@ -0,0 +1,756 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1184.4827627575758,
+            1679.1311927691097,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1187.0808389689291,
+            1677.6311927691097,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1189.6789151802825,
+            1676.1311927691097,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1192.2769913916359,
+            1674.6311927691097,
+            43.415357733807625
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1192.2769913916359,
+            1674.6311927691097,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1193.7769913916359,
+            1672.0331165577563,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1195.2769913916359,
+            1669.435040346403,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1196.7769913916359,
+            1666.8369641350496,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1198.2769913916359,
+            1664.2388879236962,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1199.7769913916359,
+            1661.6408117123428,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1201.2769913916359,
+            1659.0427355009895,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1202.7769913916359,
+            1656.444659289636,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1204.2769913916359,
+            1653.8465830782827,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1205.7769913916359,
+            1651.2485068669293,
+            43.415357733807625
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1205.7769913916359,
+            1651.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1205.7769913916359,
+            1648.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1205.7769913916359,
+            1645.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1205.7769913916359,
+            1642.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1205.7769913916359,
+            1639.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1205.7769913916359,
+            1636.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1205.7769913916359,
+            1633.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1205.7769913916359,
+            1630.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1205.7769913916359,
+            1627.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1205.7769913916359,
+            1624.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1205.7769913916359,
+            1621.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1205.7769913916359,
+            1618.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1205.7769913916359,
+            1615.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1205.7769913916359,
+            1612.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1205.7769913916359,
+            1609.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1205.7769913916359,
+            1606.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1205.7769913916359,
+            1603.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1205.7769913916359,
+            1600.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1205.7769913916359,
+            1597.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1205.7769913916359,
+            1594.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1205.7769913916359,
+            1591.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1205.7769913916359,
+            1588.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1205.7769913916359,
+            1585.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1205.7769913916359,
+            1582.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1205.7769913916359,
+            1579.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1205.7769913916359,
+            1576.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1205.7769913916359,
+            1573.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1205.7769913916359,
+            1570.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1205.7769913916359,
+            1567.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1205.7769913916359,
+            1564.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1205.7769913916359,
+            1561.2485068669293,
+            43.415357733807625
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1205.7769913916359,
+            1561.2485068669293,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1204.2769913916359,
+            1558.650430655576,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1202.7769913916359,
+            1556.0523544442226,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1201.2769913916359,
+            1553.4542782328692,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1199.7769913916359,
+            1550.8562020215159,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1198.2769913916359,
+            1548.2581258101625,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1196.7769913916359,
+            1545.660049598809,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1195.2769913916359,
+            1543.0619733874557,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1193.7769913916359,
+            1540.4638971761024,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1192.2769913916359,
+            1537.865820964749,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1190.7769913916359,
+            1535.2677447533956,
+            43.415357733807625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1189.2769913916359,
+            1532.6696685420422,
+            43.415357733807625
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1188.0,
+            1508.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-26-37_345367818/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-26-37_345367818/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c131a15004fa9a414607da5157cae16c96a96399
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-26-37_345367818/pose.jsonl
@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -2428.990654122702,
+            1202.9812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -2426.392577911349,
+            1204.4812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -2423.7945016999956,
+            1205.9812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -2421.1964254886425,
+            1207.4812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -2418.5983492772893,
+            1208.9812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -2416.000273065936,
+            1210.4812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -2413.402196854583,
+            1211.9812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -2410.80412064323,
+            1213.4812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -2408.2060444318768,
+            1214.9812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -2405.6079682205236,
+            1216.4812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -2403.0098920091705,
+            1217.9812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -2400.4118157978173,
+            1219.4812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -2397.813739586464,
+            1220.9812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -2395.215663375111,
+            1222.4812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -2392.617587163758,
+            1223.9812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -2390.0195109524047,
+            1225.4812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -2387.4214347410516,
+            1226.9812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -2384.8233585296985,
+            1228.4812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -2382.2252823183453,
+            1229.9812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -2379.627206106992,
+            1231.4812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -2377.029129895639,
+            1232.9812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -2374.431053684286,
+            1234.4812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -2371.8329774729327,
+            1235.9812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -2369.2349012615796,
+            1237.4812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -2366.6368250502264,
+            1238.9812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -2364.0387488388733,
+            1240.4812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -2361.44067262752,
+            1241.9812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -2358.842596416167,
+            1243.4812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -2356.244520204814,
+            1244.9812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -2353.6464439934607,
+            1246.4812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -2351.0483677821076,
+            1247.9812875041707,
+            58.23499434683787
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -2351.0483677821076,
+            1247.9812875041707,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196626
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -2349.5483677821076,
+            1250.579363715524,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -2348.0483677821076,
+            1253.1774399268775,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -2346.5483677821076,
+            1255.7755161382308,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -2345.0483677821076,
+            1258.3735923495842,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -2343.5483677821076,
+            1260.9716685609376,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -2342.0483677821076,
+            1263.569744772291,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -2340.5483677821076,
+            1266.1678209836443,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -2339.0483677821076,
+            1268.7658971949977,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -2337.5483677821076,
+            1271.363973406351,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -2336.0483677821076,
+            1273.9620496177045,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -2334.5483677821076,
+            1276.5601258290578,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -2333.0483677821076,
+            1279.1582020404112,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -2331.5483677821076,
+            1281.7562782517646,
+            58.23499434683787
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -2331.5483677821076,
+            1281.7562782517646,
+            58.23499434683787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -2328.9502915707544,
+            1283.2562782517646,
+            58.23499434683787
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -2308.0,
+            1300.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-30-53_937558955/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-30-53_937558955/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ff77a2077e0d417ea92fb2e71ece10b22a5826ae
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-30-53_937558955/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -2670.198738550123,
+            1166.2783768571544,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -2671.698738550123,
+            1168.8764530685078,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -2673.198738550123,
+            1171.4745292798611,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -2674.698738550123,
+            1174.0726054912145,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -2676.198738550123,
+            1176.670681702568,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -2677.698738550123,
+            1179.2687579139213,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -2679.198738550123,
+            1181.8668341252746,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -2680.698738550123,
+            1184.464910336628,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -2682.198738550123,
+            1187.0629865479814,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -2683.698738550123,
+            1189.6610627593348,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -2685.198738550123,
+            1192.2591389706881,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -2686.698738550123,
+            1194.8572151820415,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -2688.198738550123,
+            1197.4552913933949,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -2689.698738550123,
+            1200.0533676047482,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -2691.198738550123,
+            1202.6514438161016,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -2692.698738550123,
+            1205.249520027455,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -2694.198738550123,
+            1207.8475962388084,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -2695.698738550123,
+            1210.4456724501617,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -2697.198738550123,
+            1213.043748661515,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -2698.698738550123,
+            1215.6418248728685,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -2700.198738550123,
+            1218.2399010842219,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -2701.698738550123,
+            1220.8379772955752,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -2703.198738550123,
+            1223.4360535069286,
+            42.45812207888237
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -2703.198738550123,
+            1223.4360535069286,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -2705.796814761476,
+            1224.9360535069286,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -2708.394890972829,
+            1226.4360535069286,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -2710.9929671841824,
+            1227.9360535069286,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -2713.5910433955355,
+            1229.4360535069286,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -2716.1891196068887,
+            1230.9360535069286,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -2718.787195818242,
+            1232.4360535069286,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -2721.385272029595,
+            1233.9360535069286,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -2723.983348240948,
+            1235.4360535069286,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -2726.5814244523012,
+            1236.9360535069286,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -2729.1795006636544,
+            1238.4360535069286,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -2731.7775768750075,
+            1239.9360535069286,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -2734.3756530863607,
+            1241.4360535069286,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -2736.973729297714,
+            1242.9360535069286,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -2739.571805509067,
+            1244.4360535069286,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -2742.16988172042,
+            1245.9360535069286,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -2744.7679579317733,
+            1247.4360535069286,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -2747.3660341431264,
+            1248.9360535069286,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -2749.9641103544795,
+            1250.4360535069286,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -2752.5621865658327,
+            1251.9360535069286,
+            42.45812207888237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -2755.160262777186,
+            1253.4360535069286,
+            42.45812207888237
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -2788.0,
+            1292.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-35-34_76593093/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-35-34_76593093/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7fc7e6938b6bac8dbf95256d34fe6101cfce5b26
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-35-34_76593093/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -2141.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -2144.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -2147.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -2150.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -2153.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -2156.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -2159.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -2162.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -2165.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -2168.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -2171.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -2174.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -2177.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -2180.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -2183.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -2186.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -2189.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -2192.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -2195.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -2198.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -2201.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -2204.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -2207.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -2210.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -2213.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -2216.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -2219.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -2222.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -2225.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -2228.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -2231.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -2234.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -2237.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -2240.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -2243.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -2246.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -2249.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -2252.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -2255.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -2258.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -2261.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -2261.160296044165,
+            1285.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -2263.758372255518,
+            1286.7256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -2266.3564484668714,
+            1288.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -2268.9545246782245,
+            1289.7256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -2271.5526008895777,
+            1291.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -2274.150677100931,
+            1292.7256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -2276.748753312284,
+            1294.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -2279.346829523637,
+            1295.7256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -2281.9449057349902,
+            1297.2256755886979,
+            69.00136418773157
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -2284.5429819463434,
+            1298.7256755886979,
+            69.00136418773157
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -2308.0,
+            1300.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-39-4_733327814/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-39-4_733327814/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9bac868267b59cfbab0e99c06112819db6db93c1
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-39-4_733327814/pose.jsonl
@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -2063.1614893031024,
+            -2029.2423227052213,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -2064.6614893031024,
+            -2026.644246493868,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -2066.1614893031024,
+            -2024.0461702825146,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -2067.6614893031024,
+            -2021.4480940711612,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -2069.1614893031024,
+            -2018.8500178598078,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -2070.6614893031024,
+            -2016.2519416484545,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -2072.1614893031024,
+            -2013.653865437101,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -2073.6614893031024,
+            -2011.0557892257477,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -2075.1614893031024,
+            -2008.4577130143944,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -2076.6614893031024,
+            -2005.859636803041,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -2078.1614893031024,
+            -2003.2615605916876,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -2079.6614893031024,
+            -2000.6634843803342,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -2081.1614893031024,
+            -1998.0654081689809,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -2082.6614893031024,
+            -1995.4673319576275,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -2084.1614893031024,
+            -1992.8692557462741,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -2085.6614893031024,
+            -1990.2711795349207,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -2087.1614893031024,
+            -1987.6731033235674,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -2088.6614893031024,
+            -1985.075027112214,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -2090.1614893031024,
+            -1982.4769509008606,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -2091.6614893031024,
+            -1979.8788746895073,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -2093.1614893031024,
+            -1977.2807984781539,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -2094.6614893031024,
+            -1974.6827222668005,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -2096.1614893031024,
+            -1972.0846460554471,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -2097.6614893031024,
+            -1969.4865698440938,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -2099.1614893031024,
+            -1966.8884936327404,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -2100.6614893031024,
+            -1964.290417421387,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -2102.1614893031024,
+            -1961.6923412100336,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -2103.6614893031024,
+            -1959.0942649986803,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -2105.1614893031024,
+            -1956.496188787327,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -2106.6614893031024,
+            -1953.8981125759735,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -2108.1614893031024,
+            -1951.3000363646202,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -2109.6614893031024,
+            -1948.7019601532668,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -2111.1614893031024,
+            -1946.1038839419134,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -2112.6614893031024,
+            -1943.50580773056,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -2114.1614893031024,
+            -1940.9077315192067,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -2115.6614893031024,
+            -1938.3096553078533,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -2117.1614893031024,
+            -1935.7115790965,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -2118.6614893031024,
+            -1933.1135028851465,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -2120.1614893031024,
+            -1930.5154266737932,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -2121.6614893031024,
+            -1927.9173504624398,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -2123.1614893031024,
+            -1925.3192742510864,
+            68.62418550101336
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -2123.1614893031024,
+            -1925.3192742510864,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -2125.7595655144555,
+            -1923.8192742510864,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -2128.3576417258087,
+            -1922.3192742510864,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -2130.955717937162,
+            -1920.8192742510864,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -2133.553794148515,
+            -1919.3192742510864,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -2136.151870359868,
+            -1917.8192742510864,
+            68.62418550101336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -2138.7499465712212,
+            -1916.3192742510864,
+            68.62418550101336
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -2156.0,
+            -1892.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-41-18_1464415775/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-41-18_1464415775/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f1d635327eeae2b96ee2f19fdbace972a24a0048
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-41-18_1464415775/pose.jsonl
@@ -0,0 +1,769 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1746.1211585260824,
+            -697.1916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1743.1211585260824,
+            -697.1916501299269,
+            52.16371824677935
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1743.1211585260824,
+            -697.1916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1740.523082314729,
+            -698.6916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1737.9250061033756,
+            -700.1916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1735.3269298920222,
+            -701.6916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1732.7288536806689,
+            -703.1916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1730.1307774693155,
+            -704.6916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1727.5327012579621,
+            -706.1916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1724.9346250466087,
+            -707.6916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1722.3365488352554,
+            -709.1916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1719.738472623902,
+            -710.6916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1717.1403964125486,
+            -712.1916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1714.5423202011953,
+            -713.6916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1711.9442439898419,
+            -715.1916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1709.3461677784885,
+            -716.6916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1706.7480915671351,
+            -718.1916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1704.1500153557818,
+            -719.6916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1701.5519391444284,
+            -721.1916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1698.953862933075,
+            -722.6916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1696.3557867217216,
+            -724.1916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1693.7577105103683,
+            -725.6916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1691.159634299015,
+            -727.1916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1688.5615580876615,
+            -728.6916501299269,
+            52.16371824677935
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1688.5615580876615,
+            -728.6916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1685.5615580876615,
+            -728.6916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1682.5615580876615,
+            -728.6916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1679.5615580876615,
+            -728.6916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1676.5615580876615,
+            -728.6916501299269,
+            52.16371824677935
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1676.5615580876615,
+            -728.6916501299269,
+            52.16371824677935
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1676.5615580876615,
+            -728.6916501299269,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1675.0615580876615,
+            -731.2897263412801,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1673.5615580876615,
+            -733.8878025526335,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1672.0615580876615,
+            -736.4858787639869,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1670.5615580876615,
+            -739.0839549753402,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1669.0615580876615,
+            -741.6820311866936,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1667.5615580876615,
+            -744.280107398047,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1666.0615580876615,
+            -746.8781836094004,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1664.5615580876615,
+            -749.4762598207537,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1663.0615580876615,
+            -752.0743360321071,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1661.5615580876615,
+            -754.6724122434605,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1660.0615580876615,
+            -757.2704884548139,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1658.5615580876615,
+            -759.8685646661672,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1657.0615580876615,
+            -762.4666408775206,
+            52.16371824677935
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1657.0615580876615,
+            -762.4666408775206,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1657.0615580876615,
+            -765.4666408775206,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1657.0615580876615,
+            -768.4666408775206,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1657.0615580876615,
+            -771.4666408775206,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1657.0615580876615,
+            -774.4666408775206,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1657.0615580876615,
+            -777.4666408775206,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1657.0615580876615,
+            -780.4666408775206,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1657.0615580876615,
+            -783.4666408775206,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1657.0615580876615,
+            -786.4666408775206,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1657.0615580876615,
+            -789.4666408775206,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1657.0615580876615,
+            -792.4666408775206,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -1657.0615580876615,
+            -795.4666408775206,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -1657.0615580876615,
+            -798.4666408775206,
+            52.16371824677935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -1657.0615580876615,
+            -801.4666408775206,
+            52.16371824677935
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1648.0,
+            -816.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-47-9_1265122573/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-47-9_1265122573/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eb47925d02f475105ce59e839a13d4aa69cf76f1
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-47-9_1265122573/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            675.376881963899,
+            -20.158802314595917,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            672.7788057525456,
+            -18.658802314595917,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            670.1807295411922,
+            -17.158802314595917,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            667.5826533298389,
+            -15.658802314595917,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            664.9845771184855,
+            -14.158802314595917,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            662.3865009071321,
+            -12.658802314595917,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            659.7884246957788,
+            -11.158802314595917,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            657.1903484844254,
+            -9.658802314595917,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            654.592272273072,
+            -8.158802314595917,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            651.9941960617186,
+            -6.658802314595917,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            649.3961198503653,
+            -5.158802314595917,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            646.7980436390119,
+            -3.658802314595917,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            644.1999674276585,
+            -2.158802314595917,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            641.6018912163051,
+            -0.6588023145959172,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            639.0038150049518,
+            0.8411976854040826,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            636.4057387935984,
+            2.341197685404082,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991504
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            633.807662582245,
+            3.841197685404082,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            631.2095863708917,
+            5.341197685404082,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            628.6115101595383,
+            6.841197685404082,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            626.0134339481849,
+            8.341197685404081,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991504
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            623.4153577368315,
+            9.841197685404081,
+            51.82212036701703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            623.4153577368315,
+            9.841197685404081,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            621.9153577368315,
+            12.439273896757397,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            620.4153577368315,
+            15.037350108110713,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            618.9153577368315,
+            17.63542631946403,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            617.4153577368315,
+            20.233502530817347,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            615.9153577368315,
+            22.831578742170663,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            614.4153577368315,
+            25.42965495352398,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            612.9153577368315,
+            28.027731164877295,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            611.4153577368315,
+            30.62580737623061,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            609.9153577368315,
+            33.22388358758393,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            608.4153577368315,
+            35.82195979893724,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            606.9153577368315,
+            38.42003601029056,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            605.4153577368315,
+            41.018112221643875,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            603.9153577368315,
+            43.61618843299719,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            602.4153577368315,
+            46.21426464435051,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            600.9153577368315,
+            48.81234085570382,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            599.4153577368315,
+            51.41041706705714,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            597.9153577368315,
+            54.008493278410455,
+            51.82212036701703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            597.9153577368315,
+            54.008493278410455,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            595.3172815254782,
+            55.508493278410455,
+            51.82212036701703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            592.7192053141248,
+            57.008493278410455,
+            51.82212036701703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            564.0,
+            84.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-6-29_1452888574/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-6-29_1452888574/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a59d58f2a4ba737cb3a4da8c810cd76b780e791a
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-6-29_1452888574/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            730.1639032915008,
+            807.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            727.5658270801475,
+            805.9246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            724.9677508687942,
+            804.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            722.3696746574408,
+            802.9246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            719.7715984460874,
+            801.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            717.173522234734,
+            799.9246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            714.5754460233807,
+            798.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            711.9773698120273,
+            796.9246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            709.3792936006739,
+            795.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            706.7812173893205,
+            793.9246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            704.1831411779672,
+            792.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            701.5850649666138,
+            790.9246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            698.9869887552604,
+            789.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            696.388912543907,
+            787.9246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            693.7908363325537,
+            786.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            691.1927601212003,
+            784.9246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            688.5946839098469,
+            783.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            685.9966076984936,
+            781.9246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            683.3985314871402,
+            780.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            680.8004552757868,
+            778.9246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            678.2023790644334,
+            777.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            675.6043028530801,
+            775.9246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            673.0062266417267,
+            774.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            670.4081504303733,
+            772.9246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            667.81007421902,
+            771.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            665.2119980076666,
+            769.9246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            662.6139217963132,
+            768.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            660.0158455849598,
+            766.9246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            657.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            657.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            654.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            651.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            648.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            645.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            642.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            639.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            636.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            633.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            630.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            627.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            624.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            621.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            618.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            615.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            612.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            609.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            606.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            603.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            600.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            597.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            594.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            591.4177693736065,
+            765.4246778930421,
+            48.630033845581785
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            560.0,
+            756.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-8-7_1204462951/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-8-7_1204462951/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ffd04d598b4eb44fa4545b414c6e8a1cf5263619
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-8-7_1204462951/pose.jsonl
@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            263.48806288914477,
+            575.300634505167,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            261.98806288914477,
+            572.7025582938136,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            260.48806288914477,
+            570.1044820824602,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            258.98806288914477,
+            567.5064058711068,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            257.48806288914477,
+            564.9083296597535,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            255.98806288914477,
+            562.3102534484001,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            254.48806288914477,
+            559.7121772370467,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            252.98806288914477,
+            557.1141010256933,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            251.48806288914477,
+            554.51602481434,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            249.98806288914477,
+            551.9179486029866,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            248.48806288914477,
+            549.3198723916332,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            246.98806288914477,
+            546.7217961802799,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            245.48806288914477,
+            544.1237199689265,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            243.98806288914477,
+            541.5256437575731,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            242.48806288914477,
+            538.9275675462197,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            240.98806288914477,
+            536.3294913348664,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            239.48806288914477,
+            533.731415123513,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            237.98806288914477,
+            531.1333389121596,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            236.48806288914477,
+            528.5352627008062,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            234.98806288914477,
+            525.9371864894529,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            233.48806288914477,
+            523.3391102780995,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            231.98806288914477,
+            520.7410340667461,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            230.48806288914477,
+            518.1429578553928,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            228.98806288914477,
+            515.5448816440394,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            227.48806288914477,
+            512.946805432686,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            225.98806288914477,
+            510.3487292213327,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            224.48806288914477,
+            507.7506530099794,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            222.98806288914477,
+            505.15257679862606,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            221.48806288914477,
+            502.55450058727274,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            219.98806288914477,
+            499.9564243759194,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            218.48806288914477,
+            497.3583481645661,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            216.98806288914477,
+            494.7602719532128,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            215.48806288914477,
+            492.1621957418595,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            213.98806288914477,
+            489.56411953050616,
+            43.617315623659245
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            213.98806288914477,
+            489.56411953050616,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            211.38998667779146,
+            488.06411953050616,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            208.79191046643814,
+            486.56411953050616,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            206.19383425508482,
+            485.06411953050616,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            203.5957580437315,
+            483.56411953050616,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            200.9976818323782,
+            482.06411953050616,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            198.39960562102488,
+            480.56411953050616,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            195.80152940967156,
+            479.06411953050616,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            193.20345319831824,
+            477.56411953050616,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            190.60537698696493,
+            476.06411953050616,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            188.0073007756116,
+            474.56411953050616,
+            43.617315623659245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            185.4092245642583,
+            473.06411953050616,
+            43.617315623659245
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            164.0,
+            444.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-9-51_738393740/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-9-51_738393740/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a983eae92cbc7b4deae5fad5ec2ee3f7e717f30
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_17-9-51_738393740/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            877.0128614267314,
+            202.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            877.0128614267314,
+            205.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            877.0128614267314,
+            208.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            877.0128614267314,
+            211.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            877.0128614267314,
+            214.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            877.0128614267314,
+            217.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            877.0128614267314,
+            220.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            877.0128614267314,
+            223.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            877.0128614267314,
+            226.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            877.0128614267314,
+            229.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            877.0128614267314,
+            232.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            877.0128614267314,
+            235.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            877.0128614267314,
+            238.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            877.0128614267314,
+            241.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            877.0128614267314,
+            244.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            877.0128614267314,
+            247.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            877.0128614267314,
+            250.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            877.0128614267314,
+            253.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            877.0128614267314,
+            256.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            877.0128614267314,
+            259.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            877.0128614267314,
+            262.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            877.0128614267314,
+            265.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            877.0128614267314,
+            268.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            877.0128614267314,
+            271.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            877.0128614267314,
+            274.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            877.0128614267314,
+            277.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            877.0128614267314,
+            280.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            877.0128614267314,
+            283.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            877.0128614267314,
+            286.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            877.0128614267314,
+            289.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            877.0128614267314,
+            292.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            877.0128614267314,
+            295.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            877.0128614267314,
+            298.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            877.0128614267314,
+            301.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            877.0128614267314,
+            304.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            877.0128614267314,
+            307.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            877.0128614267314,
+            310.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            877.0128614267314,
+            313.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            877.0128614267314,
+            316.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            877.0128614267314,
+            319.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            877.0128614267314,
+            322.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            877.0128614267314,
+            325.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            877.0128614267314,
+            328.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            877.0128614267314,
+            331.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            877.0128614267314,
+            334.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            877.0128614267314,
+            337.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            877.0128614267314,
+            340.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            877.0128614267314,
+            343.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            877.0128614267314,
+            346.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            877.0128614267314,
+            349.68992330096415,
+            69.78372008998906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            877.0128614267314,
+            352.68992330096415,
+            69.78372008998906
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            876.0,
+            372.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-13-27_772970072/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-13-27_772970072/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cdf4b8b66ba33957b3f6fe36f6188f830f9c9302
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-13-27_772970072/pose.jsonl
@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            2492.8795139582176,
+            1289.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            2490.2814377468644,
+            1288.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            2487.6833615355113,
+            1286.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            2485.085285324158,
+            1285.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            2482.487209112805,
+            1283.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            2479.889132901452,
+            1282.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            2477.2910566900987,
+            1280.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            2474.6929804787455,
+            1279.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            2472.0949042673924,
+            1277.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            2469.4968280560392,
+            1276.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            2466.898751844686,
+            1274.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            2464.300675633333,
+            1273.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            2461.70259942198,
+            1271.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            2459.1045232106267,
+            1270.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            2456.5064469992735,
+            1268.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            2453.9083707879204,
+            1267.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            2451.3102945765672,
+            1265.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            2448.712218365214,
+            1264.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            2446.114142153861,
+            1262.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            2443.516065942508,
+            1261.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            2440.9179897311546,
+            1259.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            2438.3199135198015,
+            1258.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            2435.7218373084484,
+            1256.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            2433.123761097095,
+            1255.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            2430.525684885742,
+            1253.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            2427.927608674389,
+            1252.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            2425.329532463036,
+            1250.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            2422.7314562516826,
+            1249.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            2420.1333800403295,
+            1247.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            2417.5353038289763,
+            1246.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            2414.937227617623,
+            1244.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            2412.33915140627,
+            1243.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            2409.741075194917,
+            1241.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            2407.1429989835638,
+            1240.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            2404.5449227722106,
+            1238.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            2401.9468465608575,
+            1237.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            2399.3487703495043,
+            1235.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            2396.750694138151,
+            1234.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            2394.152617926798,
+            1232.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            2391.554541715445,
+            1231.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            2388.9564655040917,
+            1229.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            2386.3583892927386,
+            1228.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            2383.7603130813854,
+            1226.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            2381.1622368700323,
+            1225.0416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            2378.564160658679,
+            1223.5416238690073,
+            65.25797546255579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            2375.966084447326,
+            1222.0416238690073,
+            65.25797546255579
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            2348.0,
+            1208.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-19-21_93189435/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-19-21_93189435/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6783b514b05da209059c3a2b25198127bd29a8e0
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-19-21_93189435/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            3438.7307802060755,
+            458.4358523181912,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            3438.7307802060755,
+            455.4358523181912,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            3438.7307802060755,
+            452.4358523181912,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            3438.7307802060755,
+            449.4358523181912,
+            58.547878572056106
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            3438.7307802060755,
+            449.4358523181912,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            3437.2307802060755,
+            446.8377761068379,
+            58.547878572056106
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            3437.2307802060755,
+            446.8377761068379,
+            58.547878572056106
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            3437.2307802060755,
+            446.8377761068379,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            3438.7307802060755,
+            444.2396998954846,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            3440.2307802060755,
+            441.6416236841313,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            3441.7307802060755,
+            439.04354747277796,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            3443.2307802060755,
+            436.44547126142464,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            3444.7307802060755,
+            433.8473950500713,
+            58.547878572056106
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            3444.7307802060755,
+            433.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            3444.7307802060755,
+            430.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            3444.7307802060755,
+            427.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            3444.7307802060755,
+            424.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            3444.7307802060755,
+            421.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            3444.7307802060755,
+            418.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            3444.7307802060755,
+            415.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            3444.7307802060755,
+            412.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            3444.7307802060755,
+            409.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            3444.7307802060755,
+            406.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            3444.7307802060755,
+            403.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            3444.7307802060755,
+            400.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            3444.7307802060755,
+            397.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            3444.7307802060755,
+            394.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            3444.7307802060755,
+            391.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            3444.7307802060755,
+            388.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            3444.7307802060755,
+            385.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            3444.7307802060755,
+            382.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            3444.7307802060755,
+            379.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            3444.7307802060755,
+            376.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            3444.7307802060755,
+            373.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            3444.7307802060755,
+            370.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            3444.7307802060755,
+            367.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            3444.7307802060755,
+            364.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            3444.7307802060755,
+            361.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            3444.7307802060755,
+            358.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            3444.7307802060755,
+            355.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            3444.7307802060755,
+            352.8473950500713,
+            58.547878572056106
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            3444.7307802060755,
+            352.8473950500713,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            3443.2307802060755,
+            350.249318838718,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            3441.7307802060755,
+            347.6512426273647,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            3440.2307802060755,
+            345.0531664160114,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            3438.7307802060755,
+            342.45509020465806,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            3437.2307802060755,
+            339.85701399330475,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            3435.7307802060755,
+            337.25893778195143,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            3434.2307802060755,
+            334.6608615705981,
+            58.547878572056106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            3432.7307802060755,
+            332.0627853592448,
+            58.547878572056106
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            3432.0,
+            308.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-26-14_1981208324/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-26-14_1981208324/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f1ef5f1e954ba04ac3acd00943e10d195b85e147
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-26-14_1981208324/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            4220.571607875079,
+            -433.07421214727486,
+            45.71931729527913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            4223.169684086432,
+            -434.57421214727486,
+            45.71931729527913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            4225.767760297786,
+            -436.07421214727486,
+            45.71931729527913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            4228.365836509139,
+            -437.57421214727486,
+            45.71931729527913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            4230.963912720492,
+            -439.07421214727486,
+            45.71931729527913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            4233.561988931845,
+            -440.57421214727486,
+            45.71931729527913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            4236.160065143198,
+            -442.07421214727486,
+            45.71931729527913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            4238.758141354551,
+            -443.57421214727486,
+            45.71931729527913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            4241.356217565904,
+            -445.07421214727486,
+            45.71931729527913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            4243.954293777258,
+            -446.57421214727486,
+            45.71931729527913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            4246.552369988611,
+            -448.07421214727486,
+            45.71931729527913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            4249.150446199964,
+            -449.57421214727486,
+            45.71931729527913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            4251.748522411317,
+            -451.07421214727486,
+            45.71931729527913
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            4251.748522411317,
+            -451.07421214727486,
+            45.71931729527913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196626
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            4253.248522411317,
+            -453.6722883586282,
+            45.71931729527913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            4254.748522411317,
+            -456.2703645699815,
+            45.71931729527913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            4256.248522411317,
+            -458.8684407813348,
+            45.71931729527913
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            4352.0,
+            -532.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-27-40_217927335/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-27-40_217927335/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..893fb43b79a1f8b8c1530c2c388f4cf94e4808b7
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-27-40_217927335/pose.jsonl
@@ -0,0 +1,769 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            3110.9255699067103,
+            1868.0800550474135,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            3112.4255699067103,
+            1865.48197883606,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            3113.9255699067103,
+            1862.8839026247067,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            3115.4255699067103,
+            1860.2858264133533,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            3116.9255699067103,
+            1857.687750202,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            3118.4255699067103,
+            1855.0896739906466,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            3119.9255699067103,
+            1852.4915977792932,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            3121.4255699067103,
+            1849.8935215679398,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            3122.9255699067103,
+            1847.2954453565865,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            3124.4255699067103,
+            1844.697369145233,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            3125.9255699067103,
+            1842.0992929338797,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            3127.4255699067103,
+            1839.5012167225264,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            3128.9255699067103,
+            1836.903140511173,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            3130.4255699067103,
+            1834.3050642998196,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            3131.9255699067103,
+            1831.7069880884662,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            3133.4255699067103,
+            1829.1089118771129,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            3134.9255699067103,
+            1826.5108356657595,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            3136.4255699067103,
+            1823.9127594544061,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            3137.9255699067103,
+            1821.3146832430527,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            3139.4255699067103,
+            1818.7166070316994,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            3140.9255699067103,
+            1816.118530820346,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            3142.4255699067103,
+            1813.5204546089926,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            3143.9255699067103,
+            1810.9223783976392,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            3145.4255699067103,
+            1808.3243021862859,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            3146.9255699067103,
+            1805.7262259749325,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            3148.4255699067103,
+            1803.1281497635791,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            3149.9255699067103,
+            1800.5300735522258,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            3151.4255699067103,
+            1797.9319973408724,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            3152.9255699067103,
+            1795.333921129519,
+            58.48226096079691
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            3152.9255699067103,
+            1795.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            3152.9255699067103,
+            1792.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            3152.9255699067103,
+            1789.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            3152.9255699067103,
+            1786.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            3152.9255699067103,
+            1783.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            3152.9255699067103,
+            1780.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            3152.9255699067103,
+            1777.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            3152.9255699067103,
+            1774.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            3152.9255699067103,
+            1771.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            3152.9255699067103,
+            1768.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            3152.9255699067103,
+            1765.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            3152.9255699067103,
+            1762.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            3152.9255699067103,
+            1759.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            3152.9255699067103,
+            1756.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            3152.9255699067103,
+            1753.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            3152.9255699067103,
+            1750.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            3152.9255699067103,
+            1747.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            3152.9255699067103,
+            1744.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            3152.9255699067103,
+            1741.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            3152.9255699067103,
+            1738.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            3152.9255699067103,
+            1735.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            3152.9255699067103,
+            1732.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            3152.9255699067103,
+            1729.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            3152.9255699067103,
+            1726.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            3152.9255699067103,
+            1723.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            3152.9255699067103,
+            1720.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            3152.9255699067103,
+            1717.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            3152.9255699067103,
+            1714.333921129519,
+            58.48226096079691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            3152.9255699067103,
+            1711.333921129519,
+            58.48226096079691
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            3156.0,
+            1696.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-29-15_1738909365/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-29-15_1738909365/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..945ad7d8ca5c1706bd494fdf935c7f2175d5d48d
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-29-15_1738909365/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            3102.306452394943,
+            -2834.461417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            3104.904528606296,
+            -2835.961417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            3107.502604817649,
+            -2837.461417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            3110.1006810290023,
+            -2838.961417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            3112.6987572403555,
+            -2840.461417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            3115.2968334517086,
+            -2841.961417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            3117.8949096630618,
+            -2843.461417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            3120.492985874415,
+            -2844.961417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            3123.091062085768,
+            -2846.461417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            3125.689138297121,
+            -2847.961417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            3128.2872145084743,
+            -2849.461417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            3130.8852907198275,
+            -2850.961417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            3133.4833669311806,
+            -2852.461417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            3136.0814431425338,
+            -2853.961417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            3138.679519353887,
+            -2855.461417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            3141.27759556524,
+            -2856.961417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            3143.875671776593,
+            -2858.461417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            3146.4737479879464,
+            -2859.961417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            3149.0718241992995,
+            -2861.461417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            3151.6699004106526,
+            -2862.961417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            3154.267976622006,
+            -2864.461417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            3156.866052833359,
+            -2865.961417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            3159.464129044712,
+            -2867.461417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            3162.062205256065,
+            -2868.961417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            3164.6602814674184,
+            -2870.461417713972,
+            53.466020006853014
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            3164.6602814674184,
+            -2870.461417713972,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196626
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            3166.1602814674184,
+            -2873.059493925325,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            3167.6602814674184,
+            -2875.6575701366783,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            3169.1602814674184,
+            -2878.2556463480314,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            3170.6602814674184,
+            -2880.8537225593846,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            3172.1602814674184,
+            -2883.4517987707377,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            3173.6602814674184,
+            -2886.049874982091,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            3175.1602814674184,
+            -2888.647951193444,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            3176.6602814674184,
+            -2891.246027404797,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            3178.1602814674184,
+            -2893.8441036161503,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            3179.6602814674184,
+            -2896.4421798275034,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            3181.1602814674184,
+            -2899.0402560388566,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            3182.6602814674184,
+            -2901.6383322502097,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            3184.1602814674184,
+            -2904.236408461563,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            3185.6602814674184,
+            -2906.834484672916,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            3187.1602814674184,
+            -2909.432560884269,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            3188.6602814674184,
+            -2912.0306370956223,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            3190.1602814674184,
+            -2914.6287133069754,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            3191.6602814674184,
+            -2917.2267895183286,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            3193.1602814674184,
+            -2919.8248657296817,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            3194.6602814674184,
+            -2922.422941941035,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            3196.1602814674184,
+            -2925.021018152388,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            3197.6602814674184,
+            -2927.619094363741,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            3199.1602814674184,
+            -2930.2171705750943,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            3200.6602814674184,
+            -2932.8152467864475,
+            53.466020006853014
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            3202.1602814674184,
+            -2935.4133229978006,
+            53.466020006853014
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            3216.0,
+            -2948.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-34-20_1487053959/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-34-20_1487053959/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..887f2df1d45823cd7b493946b068672df72a936a
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-34-20_1487053959/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            4631.733622823342,
+            -33.26078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            4634.331699034695,
+            -34.76078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            4636.929775246048,
+            -36.26078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            4639.527851457401,
+            -37.76078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            4642.125927668754,
+            -39.26078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            4644.724003880107,
+            -40.76078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            4647.3220800914605,
+            -42.26078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            4649.920156302814,
+            -43.76078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            4652.518232514167,
+            -45.26078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            4655.11630872552,
+            -46.76078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            4657.714384936873,
+            -48.26078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            4660.312461148226,
+            -49.76078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            4662.910537359579,
+            -51.26078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            4665.5086135709325,
+            -52.76078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            4668.106689782286,
+            -54.26078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            4670.704765993639,
+            -55.76078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            4673.302842204992,
+            -57.26078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            4675.900918416345,
+            -58.76078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            4678.498994627698,
+            -60.26078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            4681.097070839051,
+            -61.76078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            4683.695147050405,
+            -63.26078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            4686.293223261758,
+            -64.76078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            4688.891299473111,
+            -66.26078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            4691.489375684464,
+            -67.76078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            4694.087451895817,
+            -69.26078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            4696.68552810717,
+            -70.76078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            4699.283604318523,
+            -72.26078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            4701.881680529877,
+            -73.76078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            4704.47975674123,
+            -75.26078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            4707.077832952583,
+            -76.76078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            4709.675909163936,
+            -78.26078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            4712.273985375289,
+            -79.76078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            4714.872061586642,
+            -81.26078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            4717.470137797995,
+            -82.76078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            4720.068214009349,
+            -84.26078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            4722.666290220702,
+            -85.76078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            4725.264366432055,
+            -87.26078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            4727.862442643408,
+            -88.76078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            4730.460518854761,
+            -90.26078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            4733.058595066114,
+            -91.76078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            4735.6566712774675,
+            -93.26078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            4738.254747488821,
+            -94.76078985327874,
+            69.14232403929888
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            4738.254747488821,
+            -94.76078985327874,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196626
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            4739.754747488821,
+            -97.35886606463205,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            4741.254747488821,
+            -99.95694227598537,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            4742.754747488821,
+            -102.55501848733869,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            4744.254747488821,
+            -105.153094698692,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            4745.754747488821,
+            -107.75117091004532,
+            69.14232403929888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            4747.254747488821,
+            -110.34924712139863,
+            69.14232403929888
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            4764.0,
+            -120.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-41-14_1435218189/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-41-14_1435218189/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f4692b0680de7e509382ab8771cf65007023438f
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-41-14_1435218189/pose.jsonl
@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1691.441483184467,
+            877.5468090461275,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1692.941483184467,
+            880.1448852574808,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1694.441483184467,
+            882.7429614688342,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1695.941483184467,
+            885.3410376801876,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1697.441483184467,
+            887.939113891541,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1698.941483184467,
+            890.5371901028943,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1700.441483184467,
+            893.1352663142477,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1701.941483184467,
+            895.7333425256011,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1703.441483184467,
+            898.3314187369544,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1704.941483184467,
+            900.9294949483078,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1706.441483184467,
+            903.5275711596612,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1707.941483184467,
+            906.1256473710146,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1709.441483184467,
+            908.7237235823679,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1710.941483184467,
+            911.3217997937213,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1712.441483184467,
+            913.9198760050747,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1713.941483184467,
+            916.5179522164281,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1715.441483184467,
+            919.1160284277814,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1716.941483184467,
+            921.7141046391348,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1718.441483184467,
+            924.3121808504882,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1719.941483184467,
+            926.9102570618415,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1721.441483184467,
+            929.5083332731949,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1722.941483184467,
+            932.1064094845483,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1724.441483184467,
+            934.7044856959017,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1725.941483184467,
+            937.302561907255,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1727.441483184467,
+            939.9006381186084,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1728.941483184467,
+            942.4987143299618,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1730.441483184467,
+            945.0967905413152,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1731.941483184467,
+            947.6948667526685,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1733.441483184467,
+            950.2929429640219,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1734.941483184467,
+            952.8910191753753,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1736.441483184467,
+            955.4890953867286,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1737.941483184467,
+            958.087171598082,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1739.441483184467,
+            960.6852478094354,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1740.941483184467,
+            963.2833240207888,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1742.441483184467,
+            965.8814002321421,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1743.941483184467,
+            968.4794764434955,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1745.441483184467,
+            971.0775526548489,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1746.941483184467,
+            973.6756288662023,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1748.441483184467,
+            976.2737050775556,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1749.941483184467,
+            978.871781288909,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1751.441483184467,
+            981.4698575002624,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1752.941483184467,
+            984.0679337116158,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1754.441483184467,
+            986.6660099229691,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1755.941483184467,
+            989.2640861343225,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1757.441483184467,
+            991.8621623456759,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1758.941483184467,
+            994.4602385570292,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1760.441483184467,
+            997.0583147683826,
+            61.308046784841125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1761.941483184467,
+            999.656390979736,
+            61.308046784841125
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1776.0,
+            1028.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-44-25_1105816539/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-44-25_1105816539/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8bca5ef6298479d9213bfd25d12e0e9456b65bea
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-44-25_1105816539/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -2627.128576789534,
+            -523.5038979719428,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -2628.628576789534,
+            -520.9058217605896,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -2630.128576789534,
+            -518.3077455492362,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -2631.628576789534,
+            -515.7096693378828,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -2633.128576789534,
+            -513.1115931265294,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -2634.628576789534,
+            -510.5135169151761,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -2636.128576789534,
+            -507.9154407038228,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -2637.628576789534,
+            -505.3173644924695,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -2639.128576789534,
+            -502.7192882811162,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -2640.628576789534,
+            -500.12121206976286,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -2642.128576789534,
+            -497.52313585840955,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -2643.628576789534,
+            -494.92505964705623,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -2645.128576789534,
+            -492.3269834357029,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -2646.628576789534,
+            -489.7289072243496,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -2648.128576789534,
+            -487.1308310129963,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -2649.628576789534,
+            -484.53275480164297,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -2651.128576789534,
+            -481.93467859028965,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -2652.628576789534,
+            -479.33660237893633,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -2654.128576789534,
+            -476.738526167583,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -2655.628576789534,
+            -474.1404499562297,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -2657.128576789534,
+            -471.5423737448764,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -2658.628576789534,
+            -468.94429753352307,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -2660.128576789534,
+            -466.34622132216975,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -2661.628576789534,
+            -463.74814511081644,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -2663.128576789534,
+            -461.1500688994631,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -2664.628576789534,
+            -458.5519926881098,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -2666.128576789534,
+            -455.9539164767565,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -2667.628576789534,
+            -453.3558402654032,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -2669.128576789534,
+            -450.75776405404986,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -2670.628576789534,
+            -448.15968784269654,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -2672.128576789534,
+            -445.5616116313432,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -2673.628576789534,
+            -442.9635354199899,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -2675.128576789534,
+            -440.3654592086366,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -2676.628576789534,
+            -437.7673829972833,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -2678.128576789534,
+            -435.16930678592996,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -2679.628576789534,
+            -432.57123057457665,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -2681.128576789534,
+            -429.97315436322333,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -2682.628576789534,
+            -427.37507815187,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -2684.128576789534,
+            -424.7770019405167,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -2685.628576789534,
+            -422.1789257291634,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -2687.128576789534,
+            -419.58084951781007,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -2688.628576789534,
+            -416.98277330645675,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -2690.128576789534,
+            -414.38469709510343,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -2691.628576789534,
+            -411.7866208837501,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -2693.128576789534,
+            -409.1885446723968,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -2694.628576789534,
+            -406.5904684610435,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -2696.128576789534,
+            -403.99239224969017,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -2697.628576789534,
+            -401.39431603833685,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -2699.128576789534,
+            -398.79623982698354,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -2700.628576789534,
+            -396.1981636156302,
+            45.836082162828085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -2702.128576789534,
+            -393.6000874042769,
+            45.836082162828085
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -2716.0,
+            -376.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-47-43_931489114/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-47-43_931489114/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..55109faad55422b1bbb7e353c2477c72d0366229
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-47-43_931489114/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            3959.227734568849,
+            2243.9045150343786,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            3957.727734568849,
+            2246.5025912457318,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            3956.227734568849,
+            2249.100667457085,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            3954.727734568849,
+            2251.698743668438,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            3953.227734568849,
+            2254.296819879791,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            3951.727734568849,
+            2256.8948960911443,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            3950.227734568849,
+            2259.4929723024975,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            3948.727734568849,
+            2262.0910485138506,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            3947.227734568849,
+            2264.689124725204,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            3945.727734568849,
+            2267.287200936557,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            3944.227734568849,
+            2269.88527714791,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            3942.727734568849,
+            2272.483353359263,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            3941.227734568849,
+            2275.0814295706164,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            3939.727734568849,
+            2277.6795057819695,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            3938.227734568849,
+            2280.2775819933227,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            3936.727734568849,
+            2282.875658204676,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            3935.227734568849,
+            2285.473734416029,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            3933.727734568849,
+            2288.071810627382,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            3932.227734568849,
+            2290.6698868387352,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            3930.727734568849,
+            2293.2679630500884,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            3929.227734568849,
+            2295.8660392614415,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            3927.727734568849,
+            2298.4641154727947,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            3926.227734568849,
+            2301.062191684148,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            3924.727734568849,
+            2303.660267895501,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            3923.227734568849,
+            2306.258344106854,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            3921.727734568849,
+            2308.8564203182073,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            3920.227734568849,
+            2311.4544965295604,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            3918.727734568849,
+            2314.0525727409135,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            3917.227734568849,
+            2316.6506489522667,
+            68.59536272746742
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            3915.727734568849,
+            2319.24872516362,
+            68.59536272746742
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            3880.0,
+            2388.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-48-29_1395405989/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-48-29_1395405989/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ed1c7de8b367ce160d251528aadc22d3dfd07d86
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-48-29_1395405989/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            22.729505093688147,
+            -2595.5048873412734,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            25.729505093688147,
+            -2595.5048873412734,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            28.729505093688147,
+            -2595.5048873412734,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            31.729505093688147,
+            -2595.5048873412734,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            34.72950509368815,
+            -2595.5048873412734,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            37.72950509368815,
+            -2595.5048873412734,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            40.72950509368815,
+            -2595.5048873412734,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            43.72950509368815,
+            -2595.5048873412734,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            46.72950509368815,
+            -2595.5048873412734,
+            42.51685352207122
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            46.72950509368815,
+            -2595.5048873412734,
+            42.51685352207122
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            46.72950509368815,
+            -2595.5048873412734,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            48.22950509368815,
+            -2592.9068111299202,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            49.72950509368815,
+            -2590.308734918567,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            51.22950509368815,
+            -2587.710658707214,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            52.72950509368815,
+            -2585.112582495861,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            54.22950509368815,
+            -2582.5145062845077,
+            42.51685352207122
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            54.22950509368815,
+            -2582.5145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            56.82758130504146,
+            -2581.0145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            59.42565751639478,
+            -2579.5145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            62.023733727748095,
+            -2578.0145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            64.62180993910141,
+            -2576.5145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            67.21988615045473,
+            -2575.0145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            69.81796236180804,
+            -2573.5145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            72.41603857316136,
+            -2572.0145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            75.01411478451467,
+            -2570.5145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            77.61219099586799,
+            -2569.0145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            80.2102672072213,
+            -2567.5145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            82.80834341857462,
+            -2566.0145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            85.40641962992794,
+            -2564.5145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            88.00449584128125,
+            -2563.0145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            90.60257205263457,
+            -2561.5145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            93.20064826398789,
+            -2560.0145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            95.7987244753412,
+            -2558.5145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            98.39680068669452,
+            -2557.0145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            100.99487689804783,
+            -2555.5145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            103.59295310940115,
+            -2554.0145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            106.19102932075447,
+            -2552.5145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            108.78910553210778,
+            -2551.0145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            111.3871817434611,
+            -2549.5145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            113.98525795481441,
+            -2548.0145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            116.58333416616773,
+            -2546.5145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            119.18141037752105,
+            -2545.0145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            121.77948658887436,
+            -2543.5145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            124.37756280022768,
+            -2542.0145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            126.975639011581,
+            -2540.5145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            129.5737152229343,
+            -2539.0145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            132.17179143428763,
+            -2537.5145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            134.76986764564094,
+            -2536.0145062845077,
+            42.51685352207122
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            137.36794385699426,
+            -2534.5145062845077,
+            42.51685352207122
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            164.0,
+            -2520.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-54-31_833215350/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-54-31_833215350/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2ed69a784201b1c4399dc7725aa5c22a771b761b
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_18-54-31_833215350/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1916.8716980450613,
+            1956.5658917797489,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1915.3716980450613,
+            1953.9678155683955,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1913.8716980450613,
+            1951.3697393570421,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1912.3716980450613,
+            1948.7716631456888,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1910.8716980450613,
+            1946.1735869343354,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1909.3716980450613,
+            1943.575510722982,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1907.8716980450613,
+            1940.9774345116286,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1906.3716980450613,
+            1938.3793583002753,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1904.8716980450613,
+            1935.781282088922,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1903.3716980450613,
+            1933.1832058775685,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1901.8716980450613,
+            1930.5851296662152,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1900.3716980450613,
+            1927.9870534548618,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1898.8716980450613,
+            1925.3889772435084,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1897.3716980450613,
+            1922.790901032155,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1895.8716980450613,
+            1920.1928248208017,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1894.3716980450613,
+            1917.5947486094483,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1892.8716980450613,
+            1914.996672398095,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1891.3716980450613,
+            1912.3985961867415,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1889.8716980450613,
+            1909.8005199753882,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1888.3716980450613,
+            1907.2024437640348,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1886.8716980450613,
+            1904.6043675526814,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1885.3716980450613,
+            1902.006291341328,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1883.8716980450613,
+            1899.4082151299747,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1882.3716980450613,
+            1896.8101389186213,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1880.8716980450613,
+            1894.212062707268,
+            49.326606549740646
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1880.8716980450613,
+            1894.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1880.8716980450613,
+            1891.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1880.8716980450613,
+            1888.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1880.8716980450613,
+            1885.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1880.8716980450613,
+            1882.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1880.8716980450613,
+            1879.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1880.8716980450613,
+            1876.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1880.8716980450613,
+            1873.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1880.8716980450613,
+            1870.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1880.8716980450613,
+            1867.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1880.8716980450613,
+            1864.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1880.8716980450613,
+            1861.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1880.8716980450613,
+            1858.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1880.8716980450613,
+            1855.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1880.8716980450613,
+            1852.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1880.8716980450613,
+            1849.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1880.8716980450613,
+            1846.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1880.8716980450613,
+            1843.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1880.8716980450613,
+            1840.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1880.8716980450613,
+            1837.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1880.8716980450613,
+            1834.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1880.8716980450613,
+            1831.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1880.8716980450613,
+            1828.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1880.8716980450613,
+            1825.212062707268,
+            49.326606549740646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1880.8716980450613,
+            1822.212062707268,
+            49.326606549740646
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1872.0,
+            1796.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_19-13-18_219544266/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_19-13-18_219544266/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..de46b2d6b8c1698fc2152b817bb9062c30f75f3c
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_19-13-18_219544266/pose.jsonl
@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -142.87286689079417,
+            -2698.2756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -145.4709431021475,
+            -2699.7756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -148.0690193135008,
+            -2701.2756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -150.66709552485412,
+            -2702.7756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -153.26517173620744,
+            -2704.2756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -155.86324794756075,
+            -2705.7756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -158.46132415891407,
+            -2707.2756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -161.05940037026738,
+            -2708.7756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -163.6574765816207,
+            -2710.2756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -166.25555279297402,
+            -2711.7756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -168.85362900432733,
+            -2713.2756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -171.45170521568065,
+            -2714.7756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -174.04978142703396,
+            -2716.2756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -176.64785763838728,
+            -2717.7756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -179.2459338497406,
+            -2719.2756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -181.8440100610939,
+            -2720.7756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -184.44208627244723,
+            -2722.2756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -187.04016248380054,
+            -2723.7756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -189.63823869515386,
+            -2725.2756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -192.23631490650718,
+            -2726.7756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -194.8343911178605,
+            -2728.2756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -197.4324673292138,
+            -2729.7756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -200.03054354056712,
+            -2731.2756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -202.62861975192044,
+            -2732.7756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -205.22669596327376,
+            -2734.2756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -207.82477217462707,
+            -2735.7756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -210.4228483859804,
+            -2737.2756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -213.0209245973337,
+            -2738.7756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -215.61900080868702,
+            -2740.2756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -218.21707702004034,
+            -2741.7756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -220.81515323139365,
+            -2743.2756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -223.41322944274697,
+            -2744.7756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -226.01130565410028,
+            -2746.2756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -228.6093818654536,
+            -2747.7756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -231.20745807680692,
+            -2749.2756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -233.80553428816023,
+            -2750.7756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -236.40361049951355,
+            -2752.2756639477757,
+            66.4947258126918
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -236.40361049951355,
+            -2752.2756639477757,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -237.90361049951355,
+            -2754.873740159129,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -239.40361049951355,
+            -2757.471816370482,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -240.90361049951355,
+            -2760.069892581835,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -242.40361049951355,
+            -2762.6679687931883,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -243.90361049951355,
+            -2765.2660450045414,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -245.40361049951355,
+            -2767.8641212158946,
+            66.4947258126918
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -245.40361049951355,
+            -2767.8641212158946,
+            66.4947258126918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915224
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -248.00168671086686,
+            -2769.3641212158946,
+            66.4947258126918
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915224
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -268.0,
+            -2784.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_19-18-53_1204754116/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_19-18-53_1204754116/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b9eed43b9707f95e4b5e7ee90fc5cc5f48567fd4
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_19-18-53_1204754116/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1786.4085512157076,
+            353.3693708531253,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1783.8104750043542,
+            351.8693708531253,
+            54.937598079740624
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1783.8104750043542,
+            351.8693708531253,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1782.3104750043542,
+            349.271294641772,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1780.8104750043542,
+            346.6732184304187,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1779.3104750043542,
+            344.07514221906536,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1777.8104750043542,
+            341.47706600771204,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1776.3104750043542,
+            338.8789897963587,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1774.8104750043542,
+            336.2809135850054,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1773.3104750043542,
+            333.6828373736521,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1771.8104750043542,
+            331.0847611622988,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1770.3104750043542,
+            328.48668495094546,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1768.8104750043542,
+            325.88860873959214,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1767.3104750043542,
+            323.2905325282388,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1765.8104750043542,
+            320.6924563168855,
+            54.937598079740624
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1765.8104750043542,
+            320.6924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1763.2123987930008,
+            319.1924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1760.6143225816475,
+            317.6924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1758.016246370294,
+            316.1924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1755.4181701589407,
+            314.6924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1752.8200939475873,
+            313.1924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1750.222017736234,
+            311.6924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1747.6239415248806,
+            310.1924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1745.0258653135272,
+            308.6924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1742.4277891021738,
+            307.1924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1739.8297128908205,
+            305.6924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1737.231636679467,
+            304.1924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1734.6335604681137,
+            302.6924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1732.0354842567604,
+            301.1924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1729.437408045407,
+            299.6924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1726.8393318340536,
+            298.1924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1724.2412556227002,
+            296.6924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1721.6431794113469,
+            295.1924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1719.0451031999935,
+            293.6924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1716.4470269886401,
+            292.1924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1713.8489507772867,
+            290.6924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1711.2508745659334,
+            289.1924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1708.65279835458,
+            287.6924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1706.0547221432266,
+            286.1924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1703.4566459318733,
+            284.6924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1700.8585697205199,
+            283.1924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1698.2604935091665,
+            281.6924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1695.6624172978131,
+            280.1924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1693.0643410864598,
+            278.6924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1690.4662648751064,
+            277.1924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1687.868188663753,
+            275.6924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1685.2701124523996,
+            274.1924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1682.6720362410463,
+            272.6924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1680.073960029693,
+            271.1924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1677.4758838183395,
+            269.6924563168855,
+            54.937598079740624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1674.8778076069862,
+            268.1924563168855,
+            54.937598079740624
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1660.0,
+            256.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_19-24-15_1663080928/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_19-24-15_1663080928/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..39808fefa7a411fa5a37549ace0fedd61eb112f9
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_19-24-15_1663080928/pose.jsonl
@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            193.2520393228091,
+            1602.3538048461191,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            196.2520393228091,
+            1602.3538048461191,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            199.2520393228091,
+            1602.3538048461191,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            202.2520393228091,
+            1602.3538048461191,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            205.2520393228091,
+            1602.3538048461191,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            208.2520393228091,
+            1602.3538048461191,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            211.2520393228091,
+            1602.3538048461191,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            214.2520393228091,
+            1602.3538048461191,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            217.2520393228091,
+            1602.3538048461191,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            220.2520393228091,
+            1602.3538048461191,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            223.2520393228091,
+            1602.3538048461191,
+            42.49220182573558
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            223.2520393228091,
+            1602.3538048461191,
+            42.49220182573558
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            223.2520393228091,
+            1602.3538048461191,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            224.7520393228091,
+            1599.7557286347658,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            226.2520393228091,
+            1597.1576524234124,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            227.7520393228091,
+            1594.559576212059,
+            42.49220182573558
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            227.7520393228091,
+            1594.559576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            230.35011553416243,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            230.35011553416243,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            233.35011553416243,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            236.35011553416243,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            239.35011553416243,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            242.35011553416243,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            245.35011553416243,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            248.35011553416243,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            251.35011553416243,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            254.35011553416243,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            257.35011553416246,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            260.35011553416246,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            263.35011553416246,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            266.35011553416246,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            269.35011553416246,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            272.35011553416246,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            275.35011553416246,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            278.35011553416246,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            281.35011553416246,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            284.35011553416246,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            287.35011553416246,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            290.35011553416246,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            293.35011553416246,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            296.35011553416246,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            299.35011553416246,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            302.35011553416246,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            302.35011553416246,
+            1593.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            304.94819174551577,
+            1594.559576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            307.5462679568691,
+            1596.059576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            310.1443441682224,
+            1597.559576212059,
+            42.49220182573558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            312.7424203795757,
+            1599.059576212059,
+            42.49220182573558
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            360.0,
+            1600.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_19-49-44_2135019593/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_19-49-44_2135019593/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..645ae8a4ba4e4f19fed56b9d530376ea415fe2d4
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_19-49-44_2135019593/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1977.7336077095085,
+            -1890.9694894241077,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1979.2336077095085,
+            -1888.3714132127543,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1980.7336077095085,
+            -1885.773337001401,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1982.2336077095085,
+            -1883.1752607900476,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1983.7336077095085,
+            -1880.5771845786942,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1985.2336077095085,
+            -1877.9791083673408,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1986.7336077095085,
+            -1875.3810321559874,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1988.2336077095085,
+            -1872.782955944634,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1989.7336077095085,
+            -1870.1848797332807,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1991.2336077095085,
+            -1867.5868035219273,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1992.7336077095085,
+            -1864.988727310574,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1994.2336077095085,
+            -1862.3906510992206,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1995.7336077095085,
+            -1859.7925748878672,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1997.2336077095085,
+            -1857.1944986765138,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1998.7336077095085,
+            -1854.5964224651605,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            2000.2336077095085,
+            -1851.998346253807,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            2001.7336077095085,
+            -1849.4002700424537,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            2003.2336077095085,
+            -1846.8021938311003,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            2004.7336077095085,
+            -1844.204117619747,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            2006.2336077095085,
+            -1841.6060414083936,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            2007.7336077095085,
+            -1839.0079651970402,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            2009.2336077095085,
+            -1836.4098889856868,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            2010.7336077095085,
+            -1833.8118127743335,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            2012.2336077095085,
+            -1831.21373656298,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            2013.7336077095085,
+            -1828.6156603516267,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            2015.2336077095085,
+            -1826.0175841402734,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            2016.7336077095085,
+            -1823.41950792892,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            2018.2336077095085,
+            -1820.8214317175666,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            2019.7336077095085,
+            -1818.2233555062132,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            2021.2336077095085,
+            -1815.6252792948599,
+            63.22707417021397
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            2021.2336077095085,
+            -1815.6252792948599,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            2021.2336077095085,
+            -1812.6252792948599,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            2021.2336077095085,
+            -1809.6252792948599,
+            63.22707417021397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            2021.2336077095085,
+            -1806.6252792948599,
+            63.22707417021397
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            2052.0,
+            -1744.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_19-53-25_415522325/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_19-53-25_415522325/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c64fc57837454123fc0911759263fe23ee75d6d9
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_19-53-25_415522325/pose.jsonl
@@ -0,0 +1,717 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            2684.186933762996,
+            1347.102549483554,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            2682.686933762996,
+            1344.5044732722006,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            2681.186933762996,
+            1341.9063970608472,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            2679.686933762996,
+            1339.3083208494938,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            2678.186933762996,
+            1336.7102446381405,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            2676.686933762996,
+            1334.112168426787,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            2675.186933762996,
+            1331.5140922154337,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            2673.686933762996,
+            1328.9160160040803,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            2672.186933762996,
+            1326.317939792727,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            2670.686933762996,
+            1323.7198635813736,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            2669.186933762996,
+            1321.1217873700202,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            2667.686933762996,
+            1318.5237111586669,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            2666.186933762996,
+            1315.9256349473135,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            2664.686933762996,
+            1313.32755873596,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            2663.186933762996,
+            1310.7294825246067,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            2661.686933762996,
+            1308.1314063132534,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            2660.186933762996,
+            1305.5333301019,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            2658.686933762996,
+            1302.9352538905466,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            2657.186933762996,
+            1300.3371776791932,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            2655.686933762996,
+            1297.7391014678399,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            2654.186933762996,
+            1295.1410252564865,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            2652.686933762996,
+            1292.5429490451331,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            2651.186933762996,
+            1289.9448728337798,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            2649.686933762996,
+            1287.3467966224264,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            2648.186933762996,
+            1284.748720411073,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            2646.686933762996,
+            1282.1506441997196,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            2645.186933762996,
+            1279.5525679883663,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            2643.686933762996,
+            1276.954491777013,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            2642.186933762996,
+            1274.3564155656595,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            2640.686933762996,
+            1271.7583393543061,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            2639.186933762996,
+            1269.1602631429528,
+            47.03868946471982
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            2639.186933762996,
+            1269.1602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            2636.588857551643,
+            1267.6602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            2633.9907813402897,
+            1266.1602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            2631.3927051289365,
+            1264.6602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            2628.7946289175834,
+            1263.1602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            2626.1965527062302,
+            1261.6602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            2623.598476494877,
+            1260.1602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            2621.000400283524,
+            1258.6602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            2618.402324072171,
+            1257.1602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            2615.8042478608177,
+            1255.6602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            2613.2061716494645,
+            1254.1602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            2610.6080954381114,
+            1252.6602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            2608.0100192267582,
+            1251.1602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            2605.411943015405,
+            1249.6602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            2602.813866804052,
+            1248.1602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            2600.215790592699,
+            1246.6602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            2597.6177143813456,
+            1245.1602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            2595.0196381699925,
+            1243.6602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            2592.4215619586394,
+            1242.1602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            2589.823485747286,
+            1240.6602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            2587.225409535933,
+            1239.1602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            2584.62733332458,
+            1237.6602631429528,
+            47.03868946471982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            2582.029257113227,
+            1236.1602631429528,
+            47.03868946471982
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            2568.0,
+            1224.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_19-6-28_63299708/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_19-6-28_63299708/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5984c49ccb02e9e6ede5cf0126ad86efb4297f55
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_19-6-28_63299708/pose.jsonl
@@ -0,0 +1,808 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            4014.6886392114775,
+            1647.2939601880473,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            4016.1886392114775,
+            1644.695883976694,
+            50.34600400884196
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            4016.1886392114775,
+            1644.695883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            4018.7867154228306,
+            1643.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            4021.384791634184,
+            1641.695883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            4023.982867845537,
+            1640.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            4026.58094405689,
+            1638.695883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            4029.179020268243,
+            1637.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            4031.7770964795964,
+            1635.695883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            4034.3751726909495,
+            1634.195883976694,
+            50.34600400884196
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            4034.3751726909495,
+            1634.195883976694,
+            50.34600400884196
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.047197551196626
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            4034.3751726909495,
+            1634.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.570796326794925
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            4034.3751726909495,
+            1631.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            4034.3751726909495,
+            1628.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            4034.3751726909495,
+            1625.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            4034.3751726909495,
+            1622.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            4034.3751726909495,
+            1619.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            4034.3751726909495,
+            1616.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            4034.3751726909495,
+            1613.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            4034.3751726909495,
+            1610.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            4034.3751726909495,
+            1607.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            4034.3751726909495,
+            1604.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            4034.3751726909495,
+            1601.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            4034.3751726909495,
+            1598.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            4034.3751726909495,
+            1595.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            4034.3751726909495,
+            1592.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            4034.3751726909495,
+            1589.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            4034.3751726909495,
+            1586.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            4034.3751726909495,
+            1583.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            4034.3751726909495,
+            1580.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            4034.3751726909495,
+            1577.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            4034.3751726909495,
+            1574.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            4034.3751726909495,
+            1571.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            4034.3751726909495,
+            1568.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            4034.3751726909495,
+            1565.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            4034.3751726909495,
+            1562.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            4034.3751726909495,
+            1559.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            4034.3751726909495,
+            1556.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            4034.3751726909495,
+            1553.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            4034.3751726909495,
+            1550.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            4034.3751726909495,
+            1547.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            4034.3751726909495,
+            1544.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            4034.3751726909495,
+            1541.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            4034.3751726909495,
+            1538.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            4034.3751726909495,
+            1535.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            4034.3751726909495,
+            1532.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            4034.3751726909495,
+            1529.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            4034.3751726909495,
+            1526.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            4034.3751726909495,
+            1523.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            4034.3751726909495,
+            1520.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            4034.3751726909495,
+            1517.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            4034.3751726909495,
+            1514.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            4034.3751726909495,
+            1511.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            4034.3751726909495,
+            1508.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            4034.3751726909495,
+            1505.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            4034.3751726909495,
+            1502.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            4034.3751726909495,
+            1499.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            4034.3751726909495,
+            1496.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            4034.3751726909495,
+            1493.195883976694,
+            50.34600400884196
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            4034.3751726909495,
+            1493.195883976694,
+            50.34600400884196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            4035.8751726909495,
+            1490.5978077653406,
+            50.34600400884196
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            4040.0,
+            1476.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_19-7-48_298501962/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_19-7-48_298501962/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..40951751c4698dae754696fb040de70d9b7e8de5
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_19-7-48_298501962/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1104.823276324936,
+            -1198.6397752260339,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1103.323276324936,
+            -1201.2378514373872,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1101.823276324936,
+            -1203.8359276487406,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1100.323276324936,
+            -1206.434003860094,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1098.823276324936,
+            -1209.0320800714474,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1097.323276324936,
+            -1211.6301562828007,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1095.823276324936,
+            -1214.228232494154,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1094.323276324936,
+            -1216.8263087055075,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1092.823276324936,
+            -1219.4243849168608,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1091.323276324936,
+            -1222.0224611282142,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1089.823276324936,
+            -1224.6205373395676,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1088.323276324936,
+            -1227.218613550921,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1086.823276324936,
+            -1229.8166897622743,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1085.323276324936,
+            -1232.4147659736277,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1083.823276324936,
+            -1235.012842184981,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1082.323276324936,
+            -1237.6109183963345,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1080.823276324936,
+            -1240.2089946076878,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1079.323276324936,
+            -1242.8070708190412,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1077.823276324936,
+            -1245.4051470303946,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1076.323276324936,
+            -1248.003223241748,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1074.823276324936,
+            -1250.6012994531013,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1073.323276324936,
+            -1253.1993756644547,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1071.823276324936,
+            -1255.797451875808,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1070.323276324936,
+            -1258.3955280871614,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1068.823276324936,
+            -1260.9936042985148,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1067.323276324936,
+            -1263.5916805098682,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1065.823276324936,
+            -1266.1897567212216,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1064.323276324936,
+            -1268.787832932575,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1062.823276324936,
+            -1271.3859091439283,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1061.323276324936,
+            -1273.9839853552817,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1059.823276324936,
+            -1276.582061566635,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1058.323276324936,
+            -1279.1801377779884,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1056.823276324936,
+            -1281.7782139893418,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1055.323276324936,
+            -1284.3762902006952,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1053.823276324936,
+            -1286.9743664120485,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1052.323276324936,
+            -1289.572442623402,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1050.823276324936,
+            -1292.1705188347553,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1049.323276324936,
+            -1294.7685950461087,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1047.823276324936,
+            -1297.366671257462,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1046.323276324936,
+            -1299.9647474688154,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1044.823276324936,
+            -1302.5628236801688,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1043.323276324936,
+            -1305.1608998915221,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1041.823276324936,
+            -1307.7589761028755,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1040.323276324936,
+            -1310.357052314229,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1038.823276324936,
+            -1312.9551285255823,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1037.323276324936,
+            -1315.5532047369356,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1035.823276324936,
+            -1318.151280948289,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1034.323276324936,
+            -1320.7493571596424,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1032.823276324936,
+            -1323.3474333709958,
+            58.55752702881924
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1032.823276324936,
+            -1323.3474333709958,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1032.823276324936,
+            -1326.3474333709958,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1032.823276324936,
+            -1329.3474333709958,
+            58.55752702881924
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1032.823276324936,
+            -1332.3474333709958,
+            58.55752702881924
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1024.0,
+            -1352.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-1-24_1402492972/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-1-24_1402492972/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a202a39e08a258e0b7e2e686eeed8cbf8d618a44
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-1-24_1402492972/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            2607.7075248190185,
+            1867.521026072323,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            2606.2075248190185,
+            1870.1191022836763,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            2604.7075248190185,
+            1872.7171784950297,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            2603.2075248190185,
+            1875.315254706383,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            2601.7075248190185,
+            1877.9133309177364,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            2600.2075248190185,
+            1880.5114071290898,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            2598.7075248190185,
+            1883.1094833404431,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            2597.2075248190185,
+            1885.7075595517965,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            2595.7075248190185,
+            1888.30563576315,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            2594.2075248190185,
+            1890.9037119745033,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            2592.7075248190185,
+            1893.5017881858566,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            2591.2075248190185,
+            1896.09986439721,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            2589.7075248190185,
+            1898.6979406085634,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            2588.2075248190185,
+            1901.2960168199168,
+            61.453381304102614
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            2588.2075248190185,
+            1901.2960168199168,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            2585.6094486076654,
+            1902.7960168199168,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            2583.0113723963123,
+            1904.2960168199168,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            2580.413296184959,
+            1905.7960168199168,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            2577.815219973606,
+            1907.2960168199168,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            2575.217143762253,
+            1908.7960168199168,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            2572.6190675508997,
+            1910.2960168199168,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            2570.0209913395465,
+            1911.7960168199168,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            2567.4229151281934,
+            1913.2960168199168,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            2564.8248389168402,
+            1914.7960168199168,
+            61.453381304102614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            2562.226762705487,
+            1916.2960168199168,
+            61.453381304102614
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            2504.0,
+            1984.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-31-25_411826969/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-31-25_411826969/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0d5119662fdd9740d2baa3f7cf9cef1c07ad7ec2
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-31-25_411826969/pose.jsonl
@@ -0,0 +1,717 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -2579.0258029551596,
+            -1972.923600925075,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -2576.0258029551596,
+            -1972.923600925075,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -2573.0258029551596,
+            -1972.923600925075,
+            45.86344146087771
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -2573.0258029551596,
+            -1972.923600925075,
+            45.86344146087771
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -2573.0258029551596,
+            -1972.923600925075,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -2571.5258029551596,
+            -1970.3255247137217,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -2570.0258029551596,
+            -1967.7274485023684,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -2568.5258029551596,
+            -1965.129372291015,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -2567.0258029551596,
+            -1962.5312960796616,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -2565.5258029551596,
+            -1959.9332198683082,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -2564.0258029551596,
+            -1957.3351436569549,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -2562.5258029551596,
+            -1954.7370674456015,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -2561.0258029551596,
+            -1952.1389912342481,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -2559.5258029551596,
+            -1949.5409150228948,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -2558.0258029551596,
+            -1946.9428388115414,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -2556.5258029551596,
+            -1944.344762600188,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -2555.0258029551596,
+            -1941.7466863888346,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -2553.5258029551596,
+            -1939.1486101774813,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -2552.0258029551596,
+            -1936.550533966128,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -2550.5258029551596,
+            -1933.9524577547745,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -2549.0258029551596,
+            -1931.3543815434211,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -2547.5258029551596,
+            -1928.7563053320678,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -2546.0258029551596,
+            -1926.1582291207144,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -2544.5258029551596,
+            -1923.560152909361,
+            45.86344146087771
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -2544.5258029551596,
+            -1923.560152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -2541.9277267438065,
+            -1922.060152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -2539.3296505324533,
+            -1920.560152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -2536.7315743211,
+            -1919.060152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -2534.133498109747,
+            -1917.560152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -2531.535421898394,
+            -1916.060152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -2528.9373456870408,
+            -1914.560152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -2526.3392694756876,
+            -1913.060152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -2523.7411932643345,
+            -1911.560152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -2521.1431170529813,
+            -1910.060152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -2518.545040841628,
+            -1908.560152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -2515.946964630275,
+            -1907.060152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -2513.348888418922,
+            -1905.560152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -2510.7508122075687,
+            -1904.060152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -2508.1527359962156,
+            -1902.560152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -2505.5546597848625,
+            -1901.060152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -2502.9565835735093,
+            -1899.560152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -2500.358507362156,
+            -1898.060152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -2497.760431150803,
+            -1896.560152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -2495.16235493945,
+            -1895.060152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -2492.5642787280967,
+            -1893.560152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -2489.9662025167436,
+            -1892.060152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -2487.3681263053904,
+            -1890.560152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -2484.7700500940373,
+            -1889.060152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -2482.171973882684,
+            -1887.560152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -2479.573897671331,
+            -1886.060152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -2476.975821459978,
+            -1884.560152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -2474.3777452486247,
+            -1883.060152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -2471.7796690372716,
+            -1881.560152909361,
+            45.86344146087771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -2469.1815928259184,
+            -1880.060152909361,
+            45.86344146087771
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -2456.0,
+            -1868.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-36-7_562395735/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-36-7_562395735/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2be2ec43872eb6a4ef78ef83b7bcdb1f065868fb
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-36-7_562395735/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -435.1533836509386,
+            -2531.1232354575377,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -433.6533836509386,
+            -2533.721311668891,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -432.1533836509386,
+            -2536.319387880244,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -430.6533836509386,
+            -2538.917464091597,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -429.1533836509386,
+            -2541.5155403029503,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -427.6533836509386,
+            -2544.1136165143034,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -426.1533836509386,
+            -2546.7116927256566,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -424.6533836509386,
+            -2549.3097689370097,
+            66.02916624650209
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -424.6533836509386,
+            -2549.3097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -422.0553074395853,
+            -2550.8097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -419.457231228232,
+            -2552.3097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -416.8591550168787,
+            -2553.8097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -414.26107880552536,
+            -2555.3097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -411.66300259417204,
+            -2556.8097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -409.0649263828187,
+            -2558.3097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -406.4668501714654,
+            -2559.8097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -403.8687739601121,
+            -2561.3097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -401.2706977487588,
+            -2562.8097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -398.67262153740546,
+            -2564.3097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -396.07454532605215,
+            -2565.8097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -393.47646911469883,
+            -2567.3097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -390.8783929033455,
+            -2568.8097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -388.2803166919922,
+            -2570.3097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -385.6822404806389,
+            -2571.8097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -383.08416426928557,
+            -2573.3097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -380.48608805793225,
+            -2574.8097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -377.88801184657893,
+            -2576.3097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -375.2899356352256,
+            -2577.8097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -372.6918594238723,
+            -2579.3097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -370.093783212519,
+            -2580.8097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -367.49570700116567,
+            -2582.3097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -364.89763078981235,
+            -2583.8097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -362.29955457845904,
+            -2585.3097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -359.7014783671057,
+            -2586.8097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -357.1034021557524,
+            -2588.3097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -354.5053259443991,
+            -2589.8097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -351.9072497330458,
+            -2591.3097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -349.30917352169246,
+            -2592.8097689370097,
+            66.02916624650209
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -349.30917352169246,
+            -2592.8097689370097,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -347.80917352169246,
+            -2595.407845148363,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -346.30917352169246,
+            -2598.005921359716,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -344.80917352169246,
+            -2600.603997571069,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -343.30917352169246,
+            -2603.2020737824223,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -341.80917352169246,
+            -2605.8001499937754,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -340.30917352169246,
+            -2608.3982262051286,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -338.80917352169246,
+            -2610.9963024164817,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -337.30917352169246,
+            -2613.594378627835,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -335.80917352169246,
+            -2616.192454839188,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -334.30917352169246,
+            -2618.790531050541,
+            66.02916624650209
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -332.80917352169246,
+            -2621.3886072618943,
+            66.02916624650209
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -300.0,
+            -2648.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-43-4_213213171/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-43-4_213213171/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..244bc96b1ee046d2ffd50b107bf75e835743102c
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-43-4_213213171/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1505.5064608060206,
+            879.528537551988,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1507.0064608060206,
+            882.1266137633413,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1508.5064608060206,
+            884.7246899746947,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1510.0064608060206,
+            887.322766186048,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1511.5064608060206,
+            889.9208423974014,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1513.0064608060206,
+            892.5189186087548,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1514.5064608060206,
+            895.1169948201082,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1516.0064608060206,
+            897.7150710314615,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1517.5064608060206,
+            900.3131472428149,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1519.0064608060206,
+            902.9112234541683,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1520.5064608060206,
+            905.5092996655217,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1522.0064608060206,
+            908.107375876875,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1523.5064608060206,
+            910.7054520882284,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1525.0064608060206,
+            913.3035282995818,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1526.5064608060206,
+            915.9016045109352,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1528.0064608060206,
+            918.4996807222885,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1529.5064608060206,
+            921.0977569336419,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1531.0064608060206,
+            923.6958331449953,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1532.5064608060206,
+            926.2939093563486,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1534.0064608060206,
+            928.891985567702,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1535.5064608060206,
+            931.4900617790554,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1537.0064608060206,
+            934.0881379904088,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1538.5064608060206,
+            936.6862142017621,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1540.0064608060206,
+            939.2842904131155,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1541.5064608060206,
+            941.8823666244689,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1543.0064608060206,
+            944.4804428358223,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1544.5064608060206,
+            947.0785190471756,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1546.0064608060206,
+            949.676595258529,
+            56.078062085014594
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1546.0064608060206,
+            949.676595258529,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1548.604537017374,
+            951.176595258529,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1551.2026132287274,
+            952.676595258529,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1553.8006894400808,
+            954.176595258529,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1556.3987656514341,
+            955.676595258529,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1558.9968418627875,
+            957.176595258529,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1561.5949180741409,
+            958.676595258529,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1564.1929942854943,
+            960.176595258529,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1566.7910704968476,
+            961.676595258529,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1569.389146708201,
+            963.176595258529,
+            56.078062085014594
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1569.389146708201,
+            963.176595258529,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1570.889146708201,
+            965.7746714698824,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1572.389146708201,
+            968.3727476812358,
+            56.078062085014594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1573.889146708201,
+            970.9708238925891,
+            56.078062085014594
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1604.0,
+            1008.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-50-37_592456289/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-50-37_592456289/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dd49616e3872f307311ae07d7f1a7427cac4bd91
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-50-37_592456289/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            4726.331035869614,
+            1275.3897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            4723.331035869614,
+            1275.3897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            4720.331035869614,
+            1275.3897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            4717.331035869614,
+            1275.3897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            4714.331035869614,
+            1275.3897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            4711.331035869614,
+            1275.3897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            4708.331035869614,
+            1275.3897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            4705.331035869614,
+            1275.3897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            4702.331035869614,
+            1275.3897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            4699.331035869614,
+            1275.3897100629074,
+            41.884889386062326
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            4699.331035869614,
+            1275.3897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            4696.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            4696.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535897647
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            4693.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            4690.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            4687.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            4684.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            4681.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            4678.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            4675.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            4672.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            4669.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            4666.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            4663.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            4660.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            4657.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            4654.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            4651.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            4648.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            4645.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            4642.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            4639.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            4636.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            4633.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            4630.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            4627.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            4624.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            4621.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            4618.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            4615.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            4612.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            4609.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            4609.732959658261,
+            1276.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            4607.134883446908,
+            1275.3897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            4604.536807235555,
+            1273.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            4601.938731024202,
+            1272.3897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            4599.340654812849,
+            1270.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            4596.742578601496,
+            1269.3897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            4594.144502390142,
+            1267.8897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            4591.546426178789,
+            1266.3897100629074,
+            41.884889386062326
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            4588.948349967436,
+            1264.8897100629074,
+            41.884889386062326
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            4552.0,
+            1260.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-54-1_1172063133/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-54-1_1172063133/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4b68026a2133e26e7dda0e349b3ce595f0733fd9
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-54-1_1172063133/pose.jsonl
@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            161.06219174512628,
+            2134.5972673440624,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            162.56219174512628,
+            2131.9991911327093,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            164.06219174512628,
+            2129.401114921356,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            165.56219174512628,
+            2126.803038710003,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            167.06219174512628,
+            2124.20496249865,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            168.56219174512628,
+            2121.6068862872967,
+            58.684128457150436
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            168.56219174512628,
+            2121.6068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            171.1602679564796,
+            2120.1068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            173.75834416783292,
+            2118.6068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            176.35642037918623,
+            2117.1068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            178.95449659053955,
+            2115.6068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            181.55257280189286,
+            2114.1068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            184.15064901324618,
+            2112.6068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            186.7487252245995,
+            2111.1068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            189.3468014359528,
+            2109.6068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            191.94487764730613,
+            2108.1068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            194.54295385865944,
+            2106.6068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            197.14103007001276,
+            2105.1068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            199.73910628136608,
+            2103.6068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            202.3371824927194,
+            2102.1068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            204.9352587040727,
+            2100.6068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            207.53333491542602,
+            2099.1068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            210.13141112677934,
+            2097.6068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            212.72948733813266,
+            2096.1068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            215.32756354948597,
+            2094.6068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            217.9256397608393,
+            2093.1068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            220.5237159721926,
+            2091.6068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            223.12179218354592,
+            2090.1068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            225.71986839489924,
+            2088.6068862872967,
+            58.684128457150436
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            225.71986839489924,
+            2088.6068862872967,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            227.21986839489924,
+            2086.0088100759435,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            228.71986839489924,
+            2083.4107338645904,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            230.21986839489924,
+            2080.8126576532372,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            231.71986839489924,
+            2078.214581441884,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            233.21986839489924,
+            2075.616505230531,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            234.71986839489924,
+            2073.018429019178,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            236.21986839489924,
+            2070.4203528078247,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            237.71986839489924,
+            2067.8222765964715,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            239.21986839489924,
+            2065.2242003851184,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            240.71986839489924,
+            2062.626124173765,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            242.21986839489924,
+            2060.028047962412,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            243.71986839489924,
+            2057.429971751059,
+            58.684128457150436
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            243.71986839489924,
+            2057.429971751059,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948681
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            243.71986839489924,
+            2054.429971751059,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            243.71986839489924,
+            2051.429971751059,
+            58.684128457150436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            243.71986839489924,
+            2048.429971751059,
+            58.684128457150436
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            264.0,
+            2024.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-56-16_2053232475/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-56-16_2053232475/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..51d2e0ac52e944a9e7ae52ff281df9ea89d9062c
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-56-16_2053232475/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            3253.932536883464,
+            2195.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            3251.3344606721107,
+            2197.0998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            3248.7363844607576,
+            2198.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            3246.1383082494044,
+            2200.0998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            3243.5402320380513,
+            2201.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            3240.942155826698,
+            2203.0998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            3238.344079615345,
+            2204.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            3235.746003403992,
+            2206.0998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            3233.1479271926387,
+            2207.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            3230.5498509812855,
+            2209.0998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            3227.9517747699324,
+            2210.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            3225.3536985585793,
+            2212.0998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            3222.755622347226,
+            2213.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            3220.157546135873,
+            2215.0998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            3217.55946992452,
+            2216.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            3214.9613937131667,
+            2218.0998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            3212.3633175018135,
+            2219.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            3209.7652412904604,
+            2221.0998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            3207.1671650791072,
+            2222.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            3204.569088867754,
+            2224.0998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            3201.971012656401,
+            2225.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            3199.372936445048,
+            2227.0998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            3196.7748602336947,
+            2228.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            3194.1767840223415,
+            2230.0998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            3191.5787078109884,
+            2231.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            3188.980631599635,
+            2233.0998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            3186.382555388282,
+            2234.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            3183.784479176929,
+            2236.0998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            3181.186402965576,
+            2237.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            3178.5883267542226,
+            2239.0998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            3175.9902505428695,
+            2240.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            3173.3921743315163,
+            2242.0998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            3170.794098120163,
+            2243.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            3168.19602190881,
+            2245.0998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            3165.597945697457,
+            2246.5998740735627,
+            59.07859355264384
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            3165.597945697457,
+            2246.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535897647
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            3162.597945697457,
+            2246.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            3159.597945697457,
+            2246.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            3156.597945697457,
+            2246.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            3153.597945697457,
+            2246.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            3150.597945697457,
+            2246.5998740735627,
+            59.07859355264384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            3147.597945697457,
+            2246.5998740735627,
+            59.07859355264384
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            3104.0,
+            2268.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-59-34_788380902/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-59-34_788380902/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f2c908b1ba7eee9ffed8e6e6fb12e68a74b5b6e2
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-59-34_788380902/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1318.2076036663996,
+            -550.8806119472783,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1318.2076036663996,
+            -547.8806119472783,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1318.2076036663996,
+            -544.8806119472783,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1318.2076036663996,
+            -541.8806119472783,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1318.2076036663996,
+            -538.8806119472783,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1318.2076036663996,
+            -535.8806119472783,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1318.2076036663996,
+            -532.8806119472783,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1318.2076036663996,
+            -529.8806119472783,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1318.2076036663996,
+            -526.8806119472783,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1318.2076036663996,
+            -523.8806119472783,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1318.2076036663996,
+            -520.8806119472783,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1318.2076036663996,
+            -517.8806119472783,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1318.2076036663996,
+            -514.8806119472783,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1318.2076036663996,
+            -511.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1318.2076036663996,
+            -508.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1318.2076036663996,
+            -505.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1318.2076036663996,
+            -502.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1318.2076036663996,
+            -499.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1318.2076036663996,
+            -496.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1318.2076036663996,
+            -493.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1318.2076036663996,
+            -490.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1318.2076036663996,
+            -487.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1318.2076036663996,
+            -484.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1318.2076036663996,
+            -481.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1318.2076036663996,
+            -478.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1318.2076036663996,
+            -475.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1318.2076036663996,
+            -472.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1318.2076036663996,
+            -469.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1318.2076036663996,
+            -466.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1318.2076036663996,
+            -463.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1318.2076036663996,
+            -460.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1318.2076036663996,
+            -457.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1318.2076036663996,
+            -454.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1318.2076036663996,
+            -451.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1318.2076036663996,
+            -448.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1318.2076036663996,
+            -445.88061194727834,
+            62.04806435443861
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1318.2076036663996,
+            -445.88061194727834,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1319.7076036663996,
+            -443.282535735925,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1321.2076036663996,
+            -440.6844595245717,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1322.7076036663996,
+            -438.0863833132184,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1324.2076036663996,
+            -435.4883071018651,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1325.7076036663996,
+            -432.89023089051176,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1327.2076036663996,
+            -430.29215467915844,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1328.7076036663996,
+            -427.6940784678051,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1330.2076036663996,
+            -425.0960022564518,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1331.7076036663996,
+            -422.4979260450985,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1333.2076036663996,
+            -419.8998498337452,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1334.7076036663996,
+            -417.30177362239186,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1336.2076036663996,
+            -414.70369741103855,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1337.7076036663996,
+            -412.10562119968523,
+            62.04806435443861
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1339.2076036663996,
+            -409.5075449883319,
+            62.04806435443861
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1344.0,
+            -388.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-6-13_610486506/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-6-13_610486506/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b6a6dd62cdafc1f43953f378a0498007d9053e1c
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_20-6-13_610486506/pose.jsonl
@@ -0,0 +1,67 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            3234.938369762216,
+            -2993.6070288641044,
+            44.0586296184895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            3236.438369762216,
+            -2996.2051050754576,
+            44.0586296184895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            3237.938369762216,
+            -2998.8031812868107,
+            44.0586296184895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            3239.438369762216,
+            -3001.401257498164,
+            44.0586296184895
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            3340.0,
+            -3136.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-11-13_1670372305/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-11-13_1670372305/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5155b66f6dd301cdf1c6056053641228e1a27b16
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-11-13_1670372305/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            4910.604597135045,
+            -186.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            4908.006520923692,
+            -187.53070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            4905.408444712339,
+            -189.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            4902.8103685009855,
+            -190.53070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            4900.212292289632,
+            -192.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            4897.614216078279,
+            -193.53070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            4895.016139866926,
+            -195.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            4892.418063655573,
+            -196.53070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            4889.81998744422,
+            -198.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            4887.221911232867,
+            -199.53070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            4884.6238350215135,
+            -201.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            4882.02575881016,
+            -202.53070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            4879.427682598807,
+            -204.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            4876.829606387454,
+            -205.53070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            4874.231530176101,
+            -207.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            4871.633453964748,
+            -208.53070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            4869.035377753395,
+            -210.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            4866.4373015420415,
+            -211.53070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            4863.839225330688,
+            -213.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            4861.241149119335,
+            -214.53070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            4858.643072907982,
+            -216.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            4856.044996696629,
+            -217.53070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            4853.446920485276,
+            -219.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            4850.848844273923,
+            -220.53070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            4848.2507680625695,
+            -222.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            4845.652691851216,
+            -223.53070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            4843.054615639863,
+            -225.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            4840.45653942851,
+            -226.53070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            4837.858463217157,
+            -228.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            4835.260387005804,
+            -229.53070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            4832.662310794451,
+            -231.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            4830.0642345830975,
+            -232.53070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            4827.466158371744,
+            -234.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            4824.868082160391,
+            -235.53070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            4822.270005949038,
+            -237.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            4819.671929737685,
+            -238.53070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            4817.073853526332,
+            -240.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            4814.475777314979,
+            -241.53070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            4811.877701103625,
+            -243.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            4809.279624892272,
+            -244.53070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            4806.681548680919,
+            -246.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            4804.083472469566,
+            -247.53070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            4801.485396258213,
+            -249.03070825482706,
+            58.58163184394543
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            4801.485396258213,
+            -249.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535897647
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            4798.485396258213,
+            -249.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            4795.485396258213,
+            -249.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            4792.485396258213,
+            -249.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            4789.485396258213,
+            -249.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            4786.485396258213,
+            -249.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            4783.485396258213,
+            -249.03070825482706,
+            58.58163184394543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            4780.485396258213,
+            -249.03070825482706,
+            58.58163184394543
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            4760.0,
+            -260.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-12-40_311269559/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-12-40_311269559/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..918655af9f2fbaccc008896f40fe93dd190a9261
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-12-40_311269559/pose.jsonl
@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1442.2751762765597,
+            426.67912604095955,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1439.6771000652063,
+            428.17912604095955,
+            61.23752914873488
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1439.6771000652063,
+            428.17912604095955,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1438.1771000652063,
+            430.77720225231286,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1436.6771000652063,
+            433.3752784636662,
+            61.23752914873488
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1436.6771000652063,
+            433.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1434.079023853853,
+            434.8752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1431.4809476424996,
+            436.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1428.8828714311462,
+            437.8752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1426.2847952197928,
+            439.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1423.6867190084395,
+            440.8752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1421.088642797086,
+            442.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1418.4905665857327,
+            443.8752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1415.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1415.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1412.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1409.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1406.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1403.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1400.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1397.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1394.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1391.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1388.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1385.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1382.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1379.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1376.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1373.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1370.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1367.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1364.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1361.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1358.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1355.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1352.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1349.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1346.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1343.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1340.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1337.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1337.8924903743793,
+            445.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1335.294414163026,
+            446.8752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1332.6963379516726,
+            448.3752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1330.0982617403192,
+            449.8752784636662,
+            61.23752914873488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1327.5001855289659,
+            451.3752784636662,
+            61.23752914873488
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1288.0,
+            460.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-24-30_1403938270/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-24-30_1403938270/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f2e2d2d059681d94a71483fbc199652140c868ba
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-24-30_1403938270/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            289.83543923632647,
+            682.0270873552861,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            288.33543923632647,
+            684.6251635666395,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            286.83543923632647,
+            687.2232397779928,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            285.33543923632647,
+            689.8213159893462,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            283.83543923632647,
+            692.4193922006996,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            282.33543923632647,
+            695.017468412053,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            280.83543923632647,
+            697.6155446234063,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            279.33543923632647,
+            700.2136208347597,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            277.83543923632647,
+            702.8116970461131,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            276.33543923632647,
+            705.4097732574664,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            274.83543923632647,
+            708.0078494688198,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            273.33543923632647,
+            710.6059256801732,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            271.83543923632647,
+            713.2040018915266,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            270.33543923632647,
+            715.8020781028799,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            268.83543923632647,
+            718.4001543142333,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            267.33543923632647,
+            720.9982305255867,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            265.83543923632647,
+            723.59630673694,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            264.33543923632647,
+            726.1943829482934,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            262.83543923632647,
+            728.7924591596468,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            261.33543923632647,
+            731.3905353710002,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            259.83543923632647,
+            733.9886115823535,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            258.33543923632647,
+            736.5866877937069,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            256.83543923632647,
+            739.1847640050603,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            255.33543923632647,
+            741.7828402164137,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            253.83543923632647,
+            744.380916427767,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            252.33543923632647,
+            746.9789926391204,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            250.83543923632647,
+            749.5770688504738,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            249.33543923632647,
+            752.1751450618272,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            247.83543923632647,
+            754.7732212731805,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            246.33543923632647,
+            757.3712974845339,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            244.83543923632647,
+            759.9693736958873,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            243.33543923632647,
+            762.5674499072406,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            241.83543923632647,
+            765.165526118594,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            240.33543923632647,
+            767.7636023299474,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            238.83543923632647,
+            770.3616785413008,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            237.33543923632647,
+            772.9597547526541,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            235.83543923632647,
+            775.5578309640075,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            234.33543923632647,
+            778.1559071753609,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            232.83543923632647,
+            780.7539833867143,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            231.33543923632647,
+            783.3520595980676,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            229.83543923632647,
+            785.950135809421,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            228.33543923632647,
+            788.5482120207744,
+            54.43018241700233
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            228.33543923632647,
+            788.5482120207744,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            228.33543923632647,
+            791.5482120207744,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            228.33543923632647,
+            794.5482120207744,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            228.33543923632647,
+            797.5482120207744,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            228.33543923632647,
+            800.5482120207744,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            228.33543923632647,
+            803.5482120207744,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            228.33543923632647,
+            806.5482120207744,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            228.33543923632647,
+            809.5482120207744,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            228.33543923632647,
+            812.5482120207744,
+            54.43018241700233
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            228.33543923632647,
+            815.5482120207744,
+            54.43018241700233
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            216.0,
+            844.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-33-54_1514620094/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-33-54_1514620094/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..83f368b953d7e77a018e138c50db14709f17a49c
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-33-54_1514620094/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            4904.929550956361,
+            303.16734903388124,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            4906.429550956361,
+            305.76542524523455,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            4907.929550956361,
+            308.36350145658787,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            4909.429550956361,
+            310.9615776679412,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            4910.929550956361,
+            313.5596538792945,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            4912.429550956361,
+            316.1577300906478,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            4913.929550956361,
+            318.75580630200113,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            4915.429550956361,
+            321.35388251335445,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            4916.929550956361,
+            323.95195872470777,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            4918.429550956361,
+            326.5500349360611,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            4919.929550956361,
+            329.1481111474144,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            4921.429550956361,
+            331.7461873587677,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            4922.929550956361,
+            334.34426357012103,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            4924.429550956361,
+            336.94233978147435,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            4925.929550956361,
+            339.54041599282766,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            4927.429550956361,
+            342.138492204181,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            4928.929550956361,
+            344.7365684155343,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            4930.429550956361,
+            347.3346446268876,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            4931.929550956361,
+            349.9327208382409,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            4933.429550956361,
+            352.53079704959424,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            4934.929550956361,
+            355.12887326094756,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            4936.429550956361,
+            357.7269494723009,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            4937.929550956361,
+            360.3250256836542,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            4939.429550956361,
+            362.9231018950075,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            4940.929550956361,
+            365.5211781063608,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            4942.429550956361,
+            368.11925431771414,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            4943.929550956361,
+            370.71733052906745,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            4945.429550956361,
+            373.31540674042077,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            4946.929550956361,
+            375.9134829517741,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            4948.429550956361,
+            378.5115591631274,
+            57.0068682401006
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            4948.429550956361,
+            378.5115591631274,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            4948.429550956361,
+            381.5115591631274,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            4948.429550956361,
+            384.5115591631274,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            4948.429550956361,
+            387.5115591631274,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            4948.429550956361,
+            390.5115591631274,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            4948.429550956361,
+            393.5115591631274,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            4948.429550956361,
+            396.5115591631274,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            4948.429550956361,
+            399.5115591631274,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            4948.429550956361,
+            402.5115591631274,
+            57.0068682401006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            4948.429550956361,
+            405.5115591631274,
+            57.0068682401006
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            4968.0,
+            448.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-41-49_1322623287/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-41-49_1322623287/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dbf426d89ad14d2032297ffcf5001ccf8d52cd3a
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-41-49_1322623287/pose.jsonl
@@ -0,0 +1,912 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            127.70227258278297,
+            1126.673511203015,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            126.20227258278297,
+            1129.2715874143685,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            124.70227258278297,
+            1131.8696636257218,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            123.20227258278297,
+            1134.4677398370752,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            121.70227258278297,
+            1137.0658160484286,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            120.20227258278297,
+            1139.663892259782,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            118.70227258278297,
+            1142.2619684711353,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            117.20227258278297,
+            1144.8600446824887,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            115.70227258278297,
+            1147.458120893842,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            114.20227258278297,
+            1150.0561971051955,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            112.70227258278297,
+            1152.6542733165488,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            111.20227258278297,
+            1155.2523495279022,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            109.70227258278297,
+            1157.8504257392556,
+            67.61298406380345
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            109.70227258278297,
+            1157.8504257392556,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            107.10419637142965,
+            1159.3504257392556,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            104.50612016007634,
+            1160.8504257392556,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            101.90804394872302,
+            1162.3504257392556,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            99.3099677373697,
+            1163.8504257392556,
+            67.61298406380345
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            99.3099677373697,
+            1163.8504257392556,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            96.3099677373697,
+            1163.8504257392556,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            93.3099677373697,
+            1163.8504257392556,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            90.3099677373697,
+            1163.8504257392556,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            87.3099677373697,
+            1163.8504257392556,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            84.3099677373697,
+            1163.8504257392556,
+            67.61298406380345
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            84.3099677373697,
+            1163.8504257392556,
+            67.61298406380345
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            84.3099677373697,
+            1163.8504257392556,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            82.8099677373697,
+            1161.2523495279022,
+            67.61298406380345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            82.8099677373697,
+            1161.2523495279022,
+            67.61298406380345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            82.8099677373697,
+            1161.2523495279022,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535897833
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            79.8099677373697,
+            1161.2523495279022,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            76.8099677373697,
+            1161.2523495279022,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            73.8099677373697,
+            1161.2523495279022,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            70.8099677373697,
+            1161.2523495279022,
+            67.61298406380345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            70.8099677373697,
+            1161.2523495279022,
+            67.61298406380345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            70.8099677373697,
+            1161.2523495279022,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            69.3099677373697,
+            1163.8504257392556,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            67.8099677373697,
+            1166.448501950609,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            66.3099677373697,
+            1169.0465781619623,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            64.8099677373697,
+            1171.6446543733157,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            63.3099677373697,
+            1174.242730584669,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            61.8099677373697,
+            1176.8408067960224,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            60.3099677373697,
+            1179.4388830073758,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            58.8099677373697,
+            1182.0369592187292,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            57.3099677373697,
+            1184.6350354300826,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            55.8099677373697,
+            1187.233111641436,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            54.3099677373697,
+            1189.8311878527893,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            52.8099677373697,
+            1192.4292640641427,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            51.3099677373697,
+            1195.027340275496,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            49.8099677373697,
+            1197.6254164868494,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            48.3099677373697,
+            1200.2234926982028,
+            67.61298406380345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            48.3099677373697,
+            1200.2234926982028,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            48.3099677373697,
+            1203.2234926982028,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            48.3099677373697,
+            1206.2234926982028,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            48.3099677373697,
+            1209.2234926982028,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            48.3099677373697,
+            1212.2234926982028,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            48.3099677373697,
+            1215.2234926982028,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            48.3099677373697,
+            1218.2234926982028,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            48.3099677373697,
+            1221.2234926982028,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            48.3099677373697,
+            1224.2234926982028,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            48.3099677373697,
+            1227.2234926982028,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            48.3099677373697,
+            1230.2234926982028,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            48.3099677373697,
+            1233.2234926982028,
+            67.61298406380345
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            48.3099677373697,
+            1233.2234926982028,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            46.8099677373697,
+            1235.8215689095562,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            45.3099677373697,
+            1238.4196451209095,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            43.8099677373697,
+            1241.017721332263,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            42.3099677373697,
+            1243.6157975436163,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            40.8099677373697,
+            1246.2138737549697,
+            67.61298406380345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            39.3099677373697,
+            1248.811949966323,
+            67.61298406380345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            24.0,
+            1268.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-49-0_1835342733/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-49-0_1835342733/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..297206bcf9c89d85c8fd5ace0cb75d718196a5d5
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-49-0_1835342733/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            4187.829913137971,
+            613.1433223945139,
+            50.56615470518583
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            4190.829913137971,
+            613.1433223945139,
+            50.56615470518583
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            4193.829913137971,
+            613.1433223945139,
+            50.56615470518583
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            4196.829913137971,
+            613.1433223945139,
+            50.56615470518583
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            4199.829913137971,
+            613.1433223945139,
+            50.56615470518583
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            4202.829913137971,
+            613.1433223945139,
+            50.56615470518583
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            4205.829913137971,
+            613.1433223945139,
+            50.56615470518583
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            4208.829913137971,
+            613.1433223945139,
+            50.56615470518583
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            4211.829913137971,
+            613.1433223945139,
+            50.56615470518583
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            4214.829913137971,
+            613.1433223945139,
+            50.56615470518583
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            4214.829913137971,
+            613.1433223945139,
+            50.56615470518583
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            4214.829913137971,
+            613.1433223945139,
+            50.56615470518583
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            4216.329913137971,
+            615.7413986058673,
+            50.56615470518583
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            4217.829913137971,
+            618.3394748172207,
+            50.56615470518583
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            4219.329913137971,
+            620.937551028574,
+            50.56615470518583
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            4219.329913137971,
+            620.937551028574,
+            50.56615470518583
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            4221.927989349324,
+            622.437551028574,
+            50.56615470518583
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            4224.526065560677,
+            623.937551028574,
+            50.56615470518583
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            4227.12414177203,
+            625.437551028574,
+            50.56615470518583
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            4229.722217983383,
+            626.937551028574,
+            50.56615470518583
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            4232.320294194737,
+            628.437551028574,
+            50.56615470518583
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            4234.91837040609,
+            629.937551028574,
+            50.56615470518583
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            4237.516446617443,
+            631.437551028574,
+            50.56615470518583
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            4240.114522828796,
+            632.937551028574,
+            50.56615470518583
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            4242.712599040149,
+            634.437551028574,
+            50.56615470518583
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755983272
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            4332.0,
+            664.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-56-17_573666704/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-56-17_573666704/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9d7d342f08e5e92025a27c0781d624ed5049d7e0
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-56-17_573666704/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            917.3815897911549,
+            161.5065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            914.7835135798016,
+            160.0065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            912.1854373684482,
+            158.5065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            909.5873611570948,
+            157.0065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            906.9892849457415,
+            155.5065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            904.3912087343881,
+            154.0065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            901.7931325230347,
+            152.5065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            899.1950563116814,
+            151.0065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            896.596980100328,
+            149.5065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            893.9989038889746,
+            148.0065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            891.4008276776212,
+            146.5065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            888.8027514662679,
+            145.0065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            886.2046752549145,
+            143.5065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            883.6065990435611,
+            142.0065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            881.0085228322077,
+            140.5065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            878.4104466208544,
+            139.0065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            875.812370409501,
+            137.5065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            873.2142941981476,
+            136.0065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            870.6162179867943,
+            134.5065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            868.0181417754409,
+            133.0065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            865.4200655640875,
+            131.5065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            862.8219893527341,
+            130.0065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            860.2239131413808,
+            128.5065998195525,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            857.6258369300274,
+            127.00659981955249,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            855.027760718674,
+            125.50659981955249,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            852.4296845073206,
+            124.00659981955249,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            849.8316082959673,
+            122.50659981955249,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            847.2335320846139,
+            121.00659981955249,
+            47.17395191397458
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            847.2335320846139,
+            121.00659981955249,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            845.7335320846139,
+            118.40852360819918,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            844.2335320846139,
+            115.81044739684586,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            842.7335320846139,
+            113.21237118549254,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            841.2335320846139,
+            110.61429497413923,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            839.7335320846139,
+            108.01621876278591,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            838.2335320846139,
+            105.4181425514326,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            836.7335320846139,
+            102.82006634007928,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            835.2335320846139,
+            100.22199012872596,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            833.7335320846139,
+            97.62391391737265,
+            47.17395191397458
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            833.7335320846139,
+            97.62391391737265,
+            47.17395191397458
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            833.7335320846139,
+            97.62391391737265,
+            47.17395191397458
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            830.7335320846139,
+            97.62391391737265,
+            47.17395191397458
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            784.0,
+            64.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-57-25_1230769829/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-57-25_1230769829/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eb8eb8afd53a3b8478b404cb995b729ad8f5aaf3
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-57-25_1230769829/pose.jsonl
@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1530.8100668934028,
+            961.1146754131225,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1532.3100668934028,
+            958.5165992017692,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1533.8100668934028,
+            955.9185229904158,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1535.3100668934028,
+            953.3204467790624,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1536.8100668934028,
+            950.722370567709,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1538.3100668934028,
+            948.1242943563557,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1539.8100668934028,
+            945.5262181450023,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1541.3100668934028,
+            942.9281419336489,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1542.8100668934028,
+            940.3300657222956,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1544.3100668934028,
+            937.7319895109422,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1545.8100668934028,
+            935.1339132995888,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1547.3100668934028,
+            932.5358370882354,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1548.8100668934028,
+            929.9377608768821,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1550.3100668934028,
+            927.3396846655287,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1551.8100668934028,
+            924.7416084541753,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1553.3100668934028,
+            922.143532242822,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1554.8100668934028,
+            919.5454560314686,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1556.3100668934028,
+            916.9473798201152,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1557.8100668934028,
+            914.3493036087618,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1559.3100668934028,
+            911.7512273974085,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1560.8100668934028,
+            909.1531511860551,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1562.3100668934028,
+            906.5550749747017,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1563.8100668934028,
+            903.9569987633483,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1565.3100668934028,
+            901.358922551995,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1566.8100668934028,
+            898.7608463406416,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1568.3100668934028,
+            896.1627701292882,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1569.8100668934028,
+            893.5646939179348,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1571.3100668934028,
+            890.9666177065815,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1572.8100668934028,
+            888.3685414952281,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1574.3100668934028,
+            885.7704652838747,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1575.8100668934028,
+            883.1723890725214,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1577.3100668934028,
+            880.574312861168,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1578.8100668934028,
+            877.9762366498146,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1580.3100668934028,
+            875.3781604384612,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1581.8100668934028,
+            872.7800842271079,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1583.3100668934028,
+            870.1820080157545,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1584.8100668934028,
+            867.5839318044011,
+            68.3394725001321
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1584.8100668934028,
+            867.5839318044011,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1584.8100668934028,
+            864.5839318044011,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1584.8100668934028,
+            861.5839318044011,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1584.8100668934028,
+            858.5839318044011,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1584.8100668934028,
+            855.5839318044011,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1584.8100668934028,
+            852.5839318044011,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1584.8100668934028,
+            849.5839318044011,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1584.8100668934028,
+            846.5839318044011,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1584.8100668934028,
+            843.5839318044011,
+            68.3394725001321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1584.8100668934028,
+            840.5839318044011,
+            68.3394725001321
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1592.0,
+            820.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-58-42_1424321892/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-58-42_1424321892/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4456ed1a95be6698764ec9ab05b1a8dbaab677f0
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-58-42_1424321892/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            2113.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            2116.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            2119.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            2122.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            2125.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            2128.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            2131.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            2134.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            2137.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            2140.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            2143.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            2146.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            2149.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            2152.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            2155.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            2158.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            2161.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            2164.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            2167.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            2170.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            2173.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            2176.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            2176.4109883780734,
+            1375.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            2179.0090645894265,
+            1373.8473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            2181.6071408007797,
+            1372.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            2184.205217012133,
+            1370.8473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            2186.803293223486,
+            1369.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            2189.401369434839,
+            1367.8473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            2191.9994456461923,
+            1366.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            2194.5975218575454,
+            1364.8473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            2197.1955980688986,
+            1363.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            2199.7936742802517,
+            1361.8473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            2202.391750491605,
+            1360.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            2204.989826702958,
+            1358.8473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            2207.587902914311,
+            1357.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            2210.1859791256643,
+            1355.8473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            2212.7840553370174,
+            1354.3473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            2215.3821315483706,
+            1352.8473669891125,
+            59.14214094409539
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755983272
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            2215.3821315483706,
+            1352.8473669891125,
+            59.14214094409539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.842170943040401e-14
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            2218.3821315483706,
+            1352.8473669891125,
+            59.14214094409539
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.842170943040401e-14
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            2280.0,
+            1340.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-8-18_390848153/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-8-18_390848153/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9b13ffda27a26409f6b3f5cebc66f592a7c15588
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_21-8-18_390848153/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1616.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1613.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1610.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1607.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1604.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1601.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1598.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1595.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1592.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1589.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1586.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1583.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1580.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1577.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1574.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1571.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1568.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1565.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1562.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1559.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1556.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1553.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1550.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1547.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1544.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1541.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1538.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1535.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1532.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1529.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1526.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1523.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1520.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1517.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1514.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1511.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1508.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1505.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1502.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1499.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1499.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1499.461774154933,
+            1960.433856696995,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1497.961774154933,
+            1957.8357804856416,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1496.461774154933,
+            1955.2377042742883,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1494.961774154933,
+            1952.639628062935,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1493.461774154933,
+            1950.0415518515815,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1491.961774154933,
+            1947.4434756402281,
+            68.08929879620086
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1491.961774154933,
+            1947.4434756402281,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1489.3636979435796,
+            1945.9434756402281,
+            68.08929879620086
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1486.7656217322262,
+            1944.4434756402281,
+            68.08929879620086
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1460.0,
+            1940.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_22-11-18_1569115921/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_22-11-18_1569115921/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..262f73dd27138cb742cbb19ff18953a0979449ac
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_22-11-18_1569115921/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            2383.5393597524344,
+            -2980.8906409804026,
+            56.90832531374594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            2380.9412835410812,
+            -2982.3906409804026,
+            56.90832531374594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            2378.343207329728,
+            -2983.8906409804026,
+            56.90832531374594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            2375.745131118375,
+            -2985.3906409804026,
+            56.90832531374594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            2373.147054907022,
+            -2986.8906409804026,
+            56.90832531374594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            2370.5489786956687,
+            -2988.3906409804026,
+            56.90832531374594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            2367.9509024843155,
+            -2989.8906409804026,
+            56.90832531374594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            2365.3528262729624,
+            -2991.3906409804026,
+            56.90832531374594
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.617993877991466
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            2365.3528262729624,
+            -2991.3906409804026,
+            56.90832531374594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931673
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            2363.8528262729624,
+            -2993.9887171917558,
+            56.90832531374594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            2362.3528262729624,
+            -2996.586793403109,
+            56.90832531374594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            2360.8528262729624,
+            -2999.184869614462,
+            56.90832531374594
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            2264.0,
+            -3084.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_22-12-26_845954166/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_22-12-26_845954166/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..edb8e4eea21bbdfaec897e6ab181a696bab26535
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/medium_long/2025-1-6_22-12-26_845954166/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            453.06220074605267,
+            559.6688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            455.660276957406,
+            561.1688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            458.2583531687593,
+            562.6688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            460.8564293801126,
+            564.1688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            463.45450559146593,
+            565.6688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            466.05258180281925,
+            567.1688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            468.65065801417256,
+            568.6688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            471.2487342255259,
+            570.1688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            473.8468104368792,
+            571.6688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            476.4448866482325,
+            573.1688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            479.0429628595858,
+            574.6688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            481.64103907093914,
+            576.1688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            484.23911528229246,
+            577.6688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            486.8371914936458,
+            579.1688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            489.4352677049991,
+            580.6688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            492.0333439163524,
+            582.1688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            494.6314201277057,
+            583.6688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            497.22949633905904,
+            585.1688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            499.82757255041236,
+            586.6688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            502.4256487617657,
+            588.1688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            505.023724973119,
+            589.6688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            507.6218011844723,
+            591.1688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            510.2198773958256,
+            592.6688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            512.8179536071789,
+            594.1688613168476,
+            67.22611713121854
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            512.8179536071789,
+            594.1688613168476,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            514.3179536071789,
+            596.766937528201,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            515.8179536071789,
+            599.3650137395543,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            517.3179536071789,
+            601.9630899509077,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            518.8179536071789,
+            604.5611661622611,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            520.3179536071789,
+            607.1592423736145,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            521.8179536071789,
+            609.7573185849678,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            523.3179536071789,
+            612.3553947963212,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            524.8179536071789,
+            614.9534710076746,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            526.3179536071789,
+            617.551547219028,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            527.8179536071789,
+            620.1496234303813,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            529.3179536071789,
+            622.7476996417347,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            530.8179536071789,
+            625.3457758530881,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            532.3179536071789,
+            627.9438520644414,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            533.8179536071789,
+            630.5419282757948,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            535.3179536071789,
+            633.1400044871482,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            536.8179536071789,
+            635.7380806985016,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            538.3179536071789,
+            638.3361569098549,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            539.8179536071789,
+            640.9342331212083,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            541.3179536071789,
+            643.5323093325617,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            542.8179536071789,
+            646.130385543915,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            544.3179536071789,
+            648.7284617552684,
+            67.22611713121854
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            544.3179536071789,
+            648.7284617552684,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            546.9160298185323,
+            650.2284617552684,
+            67.22611713121854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            549.5141060298856,
+            651.7284617552684,
+            67.22611713121854
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            576.0,
+            676.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202306.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202306.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d86c6a9da70d6bd18ccf624a5a37e6563da937e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202306.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2119f7f26344ba6ea63c0b887626512efe3fe4198ee7cd590272600ca4691ed
+size 825184
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202308.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202308.png
new file mode 100644
index 0000000000000000000000000000000000000000..75fb1d4f3a1a03332d1d265c2e55ad311ebce64f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202308.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f247590681c7a8f475e83be372bf159fc972b3be2fed5163ac2ffa042481dba
+size 740590
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202311.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202311.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9d9d1a579bd20fee9650b24e7c2c31a4521331f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202311.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ae2c1358813323ea28eb47af3024bb3dd31f2e138ca7a81ef51b89e3bbce542
+size 730090
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202313.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202313.png
new file mode 100644
index 0000000000000000000000000000000000000000..2bc4b702341f2afc9521c8195b22ae179bf618c3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202313.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f56d969ddd55016adb5b5865abb7f51ddc1ab746c831ec969785d9dd1860f344
+size 748459
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202315.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202315.png
new file mode 100644
index 0000000000000000000000000000000000000000..d19f7fa0bc41a1f3ce081052101a843a20e76555
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202315.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc8a8bd98dc276fab39b6cf83c83d126595ed410958c984d26c2db577e3a682d
+size 767300
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202317.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202317.png
new file mode 100644
index 0000000000000000000000000000000000000000..20f4206f9a27f171b6fa463760d413c3d6debfce
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202317.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de98d71934c46cf67ab4c4fd0a57314851fd42885693ba0e6be7b608b465d2a0
+size 795953
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202319.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202319.png
new file mode 100644
index 0000000000000000000000000000000000000000..af11bb5c4c1412fdbcdb3ca39b1c637f94aaf420
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202319.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:597e40d76c82fe037bc18ee2609948ab2f0af20d3e815f66431b016557b9d72a
+size 820610
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202321.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202321.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf0acd7b7559e50b4fffe7009022df80160d63a5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202321.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea2360e6f0e9be5242fa8894d1f16e46f508ca12b4b9783170ef579a5d7713e4
+size 827027
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202324.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202324.png
new file mode 100644
index 0000000000000000000000000000000000000000..885e2e527f6aa0699025271f2f38da13aa4aa5e6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202324.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:465bdcb412f092dbdf0e5d999937254cd1189de9056b49c1871c1d799f5d4eda
+size 824159
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202326.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202326.png
new file mode 100644
index 0000000000000000000000000000000000000000..78d9aa94a9246f94e3ee0065ad394ba3be0d9156
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202326.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6f02bec2cc5805da0fa484cf8dc237d03232dc72455f990af57c46c693afb41
+size 821146
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202328.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202328.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f69a081f91da38b01c10dae97b3dedc845156b1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202328.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a93be2324cfe4815e79ed0981580ca6338dea673e53cc38e0829c76903dc944b
+size 821128
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202330.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202330.png
new file mode 100644
index 0000000000000000000000000000000000000000..76c58ba4950904742a0204c57cc1515587f96603
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202330.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58c5261d21b026ce0111ce44858063bb08c2a61b7736c901592195166f43da4e
+size 818698
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202332.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202332.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0edb46333282fdce322239158dadd906780dcaf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202332.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d04664af332dc98b201b33d71fb5bc32d1ba971e45e00718d31e01172afd351
+size 818421
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202334.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202334.png
new file mode 100644
index 0000000000000000000000000000000000000000..13349b8d80b40e591b5b16de75c8b1190f76996e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202334.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ee12a01c018ab74193f3744141cfcdd51e3b048eaf001e4d860c033e30cfb4a
+size 815763
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202337.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202337.png
new file mode 100644
index 0000000000000000000000000000000000000000..3808fdc4601f2ef7c6a36287b66176b1055bbf35
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202337.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9e46423d352ecb3289eae6657b2660d666ed427e71dadfa3c92ae23c86ce70b
+size 802350
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202339.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202339.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b6746641abcd6af7e25ea65ddbd49ea126d884d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202339.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0470aeffe5e3c7d5d21c7f4152bb45fcbce0d6bcc386d19cf70a862527414b6
+size 788535
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202341.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202341.png
new file mode 100644
index 0000000000000000000000000000000000000000..cae93ff55fd43bf70ee8080411f0f39409c39ffd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202341.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3145c508c6d3bec0f2a4438f1c59b9fd2dbd3f98c2c3388ef55be94e64af6ce8
+size 789047
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202343.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202343.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c60c4edb492fa69b793559048eb87b0a542cccf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202343.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20c9ad92e6905a705772338c52199f7fadaeeaee00afce1e472a95462dd30dd2
+size 790603
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202345.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202345.png
new file mode 100644
index 0000000000000000000000000000000000000000..4110efb03c0bc5468b26900c9c64f15dd6a7e72c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202345.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8c648f68485e13eac56a58ed6c433bac137ca665526c11d8f322a75536a0cb2
+size 789914
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202348.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202348.png
new file mode 100644
index 0000000000000000000000000000000000000000..9470195a711c6ea285b83e97cbf026511ee42f3d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202348.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:484899208b7770512f3c0c1b5dff827352776a7475142b29bcd3c594443cef32
+size 792508
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202350.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202350.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e1dac15f04249eadb796c9d88df626cd7f56982
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202350.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e4b18ee2aca781cffef06f6e9d973c188e74a403e7e03b2b54eefc502838da0
+size 793172
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202352.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202352.png
new file mode 100644
index 0000000000000000000000000000000000000000..367c496064ab4d7bd9841cee117ee10fac62cead
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202352.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41ff74e458a778847e2e027bd299cd4e384908c28bcca13ef71d6ba48783d017
+size 792419
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202354.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202354.png
new file mode 100644
index 0000000000000000000000000000000000000000..55e92803d416e796215ebc9dfbac36361b51224c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202354.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3b53847077770523a6232aeff830fd426216656853e33b87e35a4f9a84c24f5
+size 798730
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202356.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202356.png
new file mode 100644
index 0000000000000000000000000000000000000000..9955ced3fb833399b7aad6dcb4bf60b347846b6e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202356.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc440e27a097865a87c58849eb79d0b00ab9982b75dd8652d1bfb30be8f9ab19
+size 792590
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202359.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202359.png
new file mode 100644
index 0000000000000000000000000000000000000000..e57e2c2a8c1c0cfe780401e5b9c36589c15a75dc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202359.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9948a75d366c4157c1db1cef68fbce39fdb65eebdc10860ad1b1ed14e610d98
+size 767684
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202401.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202401.png
new file mode 100644
index 0000000000000000000000000000000000000000..a35f0355ec84c53b8973bf3074704a017184a428
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202401.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4026d6640741324295e686b0b7f327aab41102fb62e1ff05314b15af840be79c
+size 734897
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202403.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202403.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ddc1e8ab02729bdb61b00c0f5f28e408b1abc25
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202403.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:814de1a6fad4b42826c21de28c8c0086fb1edca0e9a371e854f1cd2e6751368a
+size 724396
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202405.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202405.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fde61be34c840f4a2c2c90cc05201dc948f7ab7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202405.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2d71f904bccfd9fd038bf7bc43a41b65b0864f6508c66de2c96016d6d907fc1
+size 749093
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202407.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202407.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f144b803e7a555dbbbe06ec02e16c34104574c2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-23-0_861021530/20250114_202407.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f75892b061f60f329ee7a53eb067b7f506444a2d043e6734e6b0fbf03b21ec1
+size 789299
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202614.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202614.png
new file mode 100644
index 0000000000000000000000000000000000000000..a533d54b889559b03fc67f3cab5cbe4f5ddc2e79
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202614.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5ac01a65e1b673872b3050ee888566bc90773dfe874b32d68db68bc10a307a1
+size 881728
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202616.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202616.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5a3dcdb6c1df73eb0ea110179c75cdccb165ef6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202616.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:535109a15bb12a3700a84e74da318ab8bac9153149cd460821885bf07c0f173f
+size 780067
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202619.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202619.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b30fe0b72bd1449d09d738070093f6791dc3619
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202619.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aba128c3781526bd59d3c8c741a2af2dc6ac91e2c0c340d483c30eb69b741afa
+size 759180
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202621.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202621.png
new file mode 100644
index 0000000000000000000000000000000000000000..c32cde11762b3f702b178599ac0afcff0c6a1862
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202621.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7256d61a246adf20dc21429a606cd687e8ce69cdc3e50c64014ce146030302d
+size 771341
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202623.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202623.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3bdb4d0f20a0658e391347746b5c613a3d7b8f6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202623.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39a20ff14c082a6ee781cecb99f72dc1f0d91bac8d932eb2ae4625456f2b3099
+size 773381
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202625.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202625.png
new file mode 100644
index 0000000000000000000000000000000000000000..25990143c07fd7cc62d764b4d210e2df9524a6be
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202625.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ccb1518de76ae49b3d6c58d413e84797a11f0ee439e1e950e4ba0e3b4524d14
+size 777653
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202628.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202628.png
new file mode 100644
index 0000000000000000000000000000000000000000..70b9b63339655643f090a564d62972cd3da2469e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202628.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be6353b6fe326e00d0b3556f14948a11ae3f379aef95f4271860d6f08dcd7025
+size 780422
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202630.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202630.png
new file mode 100644
index 0000000000000000000000000000000000000000..32f4173beb8456a45911f94ee21656d7717d4515
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202630.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08002c5922c2725d45b4a47b4dfb42e2beb8edccb5144a199eff11ff7cbc6983
+size 787066
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202632.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202632.png
new file mode 100644
index 0000000000000000000000000000000000000000..99cd44dfb6c70d56d03745162ff53d41e32f0969
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202632.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73b75b39ecc9fcf477def9e4b673cdf681493696388c05a5d3ba762767e2bbc5
+size 785608
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202634.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202634.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdacc5e1ae29fbf6fc3b0e4742b789e1873f48cb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202634.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f825056dac77376a9e9fab10b31da76aa501fbaf2ee32e079b365345cacf8476
+size 784578
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202636.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202636.png
new file mode 100644
index 0000000000000000000000000000000000000000..31a5133c73d8283bc6a3cad320c5de5bb3c9bbb3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202636.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f433429eb28a01922c7f80dc215c9093abf0e7c64e000bf97ba4d00851597fee
+size 785817
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202639.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202639.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ecb9d6258e291241dc6210359c2fe6874b0d42d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202639.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b51beed88badf27f6bcd32c5f45bcc28d3183d898293e7d09937721b24111679
+size 787015
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202641.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202641.png
new file mode 100644
index 0000000000000000000000000000000000000000..65b5bd8dd18e9e4621c3c05ff9359716eb00c5aa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202641.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c4e32005e44ef0d1c65bcec81a04685d23c99285efc8de19feccca36b26930d
+size 786046
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202643.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202643.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc8da39e934b470fb4591acb23d78c01cb0c66fc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202643.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:562e7cd27a9201535670f147421088d0d46cccce01a86ad9345598675e4d87d9
+size 788407
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202645.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202645.png
new file mode 100644
index 0000000000000000000000000000000000000000..5564ac37c3584c1dde53844643c92615f5fe39c7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202645.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c573fe1679fd1d4f3b4bbf1932fa7dedfb84509bdcbc84e9ba6caff671c33bb2
+size 792401
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202647.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202647.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bbb068b924059952ee68f44dcd7177f2f5fccee
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202647.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c853f5cbd6b6e7038da49cefe2c06f604563287f331d00418923f56e0137c6d
+size 795328
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202650.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202650.png
new file mode 100644
index 0000000000000000000000000000000000000000..80a00b8fbe64b0bd140add14325c1a9dbc0690a8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202650.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1561560452974bd9edfde50f653a53554ca4df7148e330b53aeb4f92ade10200
+size 791781
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202652.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202652.png
new file mode 100644
index 0000000000000000000000000000000000000000..be59550620c7b393bbf950738172532d89315c6f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202652.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9f3344f9a6b8755ad1cf3e4f027131020d722420e3cdea1320ba6216102be04
+size 789732
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202654.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202654.png
new file mode 100644
index 0000000000000000000000000000000000000000..ebed8a40c9dfc3f411be76831542581730119dd7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202654.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e150dec5d0db16aaa7b84102b0bf50cacd9c9adff96b446cccbb0b2e94bac53e
+size 790409
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202656.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202656.png
new file mode 100644
index 0000000000000000000000000000000000000000..fcdbc9a06e2572d6091e30233f81b07c2928a3fb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202656.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab2003b1242d89d5cbdd8b77be6fd0a3819c0e1dedd0768016189390b1415092
+size 788491
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202659.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202659.png
new file mode 100644
index 0000000000000000000000000000000000000000..caccb7ffafe6627ebcab16cd9a3555d723506803
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202659.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a47b5012a627aee23dc09aafc9ea01bfce1838cd8019cf2310f228c78e557eec
+size 785966
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202701.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202701.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3f6f3488ab6c9663087b59e5d8e52b277c90891
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202701.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bf60297803da47f7f79619fe32221d13dd0ff4b024a114a2578e72f3f423469
+size 789185
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202703.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202703.png
new file mode 100644
index 0000000000000000000000000000000000000000..80a6292dc9f6fe63157a8c7f238059ff33c85b71
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202703.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a6448e0e20f412371570881ea28ad21896550b54d07548190b4bcce3988ebca
+size 787020
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202706.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202706.png
new file mode 100644
index 0000000000000000000000000000000000000000..a235fc2ceeacd07b453ffb8a72be930d5fe758a9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202706.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3962c1f58f1fb2e8ec8473d21d1cd8efa7306889d2e7a7fc1f10ff946ca49aa9
+size 791888
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202708.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202708.png
new file mode 100644
index 0000000000000000000000000000000000000000..87ce39cf11471653292607c7b939657531903053
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202708.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95d2b6218638feb09eda518030cb1262cea7c3dc1a82c809ab3a896e553558fc
+size 792704
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202710.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202710.png
new file mode 100644
index 0000000000000000000000000000000000000000..95308f2919a627883666f0c2d2167b35f86ebc7c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202710.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80ef2f6d1a700744c6e1f30d6aa8c64fa05602332b8afd652f9f637a6e97c50d
+size 793484
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202712.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202712.png
new file mode 100644
index 0000000000000000000000000000000000000000..79494d32a0c652eb603c91c21a6a0aee99c5dbcf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202712.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c47547d3652b15db24ae4490bd0dff36262f615518f444960d42a092ed8e2b76
+size 797019
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202715.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202715.png
new file mode 100644
index 0000000000000000000000000000000000000000..c302831189e0f63d481588776b134743903194fb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202715.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:640ca140280533e9af76b9828b7d5d13220dc65fe3a1938e1ced9ecaf8a43262
+size 812078
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202717.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202717.png
new file mode 100644
index 0000000000000000000000000000000000000000..a04350fe9b6963b4dab916cc1cddbecab022733b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202717.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e00448b1e0494f574928104433b7a162283658c8d2a6f6463c06637cae84921
+size 802357
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202719.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202719.png
new file mode 100644
index 0000000000000000000000000000000000000000..653a27b7f9b3a003ac19b2df0230fe6564b2c1ce
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202719.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e66f7969ee07219c62254dae11f8cdd059af02576c5d53eb8fecb8b1e0ce1063
+size 795832
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202721.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202721.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5359ebb6e22a0e82c3b12e738eeab668b360e37
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202721.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b06062b70f19bec320d48c535b770c8430bb7d440efb07b472e0a856601c2736
+size 792260
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202724.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202724.png
new file mode 100644
index 0000000000000000000000000000000000000000..d31888077efa775cdd6edf0a568a6b42532c014a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202724.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:016f1ded3b030cc5be67957f7d26d306055ba9cb7d4ee6b66465ffe831dea1ca
+size 794805
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202726.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202726.png
new file mode 100644
index 0000000000000000000000000000000000000000..864e695087b6c67568abbbba2da6e47ef928faff
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202726.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:006f90c01b033955444b890900dd7b92d0d0b1e528724ee6a8b952fee5097eeb
+size 787450
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202728.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202728.png
new file mode 100644
index 0000000000000000000000000000000000000000..734d6f75164bbed573c89845bdd7fc5293ab6b51
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202728.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:399dc8a1cf48bf970e7322ebc33b7a3fd7475dc58c597c8f71c0e249605aa246
+size 780220
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202730.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202730.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e823333469258222322b1f8b3cd8c3a896a356a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202730.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8db1292411364529a9cdb57bfdd406760d9ac71455fbcb46569ccdd660ec2b45
+size 770245
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202733.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202733.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f13be704e854ae86d3c806ec40cc5d01910ef78
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202733.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37b18c3cd28dc78b25d199f4061a9963d1f1b0e18ce962a606e21b1bbe0e2914
+size 738178
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202735.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202735.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7baddc0683387a3f90193acc60356bd2a529bca
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202735.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19458e2b5c3b4b4c7bbff3d76bdab90c03555e03f3b56d45450b0f65e245bc60
+size 701289
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202737.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202737.png
new file mode 100644
index 0000000000000000000000000000000000000000..1416bab160d82412663903a0414c1ac001377b76
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202737.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:770d2b02381e0885aaff5e27b907ced0c450974eead06f86455820a489e93577
+size 674116
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202739.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202739.png
new file mode 100644
index 0000000000000000000000000000000000000000..5876f83e705b84450f88fd96e773678a991b417d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202739.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84913fa9d67cf4431afb1b5ef0703e7a4c84e7a1c978f6c97e370617037a7175
+size 662384
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202741.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202741.png
new file mode 100644
index 0000000000000000000000000000000000000000..28a9dcd2a2917b944416e4eeb79652bdf90a50a1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202741.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:449584f181e4a3dd0508c8e42b771c009f6272686f964fc9aaa1de36fedc883b
+size 680953
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202743.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202743.png
new file mode 100644
index 0000000000000000000000000000000000000000..738433048650d282588a5174a26fdd97b773178a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202743.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c256f93b6a861d571fa45db443c089fadf9d40ce035e90b628246cce3ce1e6f
+size 678130
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202746.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202746.png
new file mode 100644
index 0000000000000000000000000000000000000000..90375a9fddaeb397992952d7ec6215d3fc85885c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202746.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a40425083f8837daa2c5bc286ef23539cd06c621f76fe286a12f6b2b4992bc57
+size 669996
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202748.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202748.png
new file mode 100644
index 0000000000000000000000000000000000000000..70b42fe7c14655ac276bcb9b5ccccd99fd7301c3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202748.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e7bf6598ebd84cb799397c41f0ed5c22c8a1c9b22e40679b6aa1b033f80d9ca
+size 638618
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202750.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202750.png
new file mode 100644
index 0000000000000000000000000000000000000000..765edc13b0097857b10de67af91e4e9113981ecf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202750.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4e1687f206b9a1d7ee1480ecfb3df961c949f56023cf6638b0c7ae0dce2384f
+size 616321
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202752.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202752.png
new file mode 100644
index 0000000000000000000000000000000000000000..36642d379e32b6b1ef83afaa95df207a2b21a953
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202752.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8409eb38d263eeae71e2bfec1c8b4c90c11831577750ee8e2efb284f5ce735c9
+size 611401
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202754.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202754.png
new file mode 100644
index 0000000000000000000000000000000000000000..7521bdddaf47d7625e053a146246737f7a46a85c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202754.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e10bb5ed2abe8a9f626c7cfa080076c758c695fa6dffa1283de6ee726b6cc00
+size 597531
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202756.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202756.png
new file mode 100644
index 0000000000000000000000000000000000000000..09502f7eb10e3e3636f4a02171d2b004d101c95a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202756.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8576cb34aa8907c35172833ab7f1a285c9769a4ea53d9ffcc26b66c9a763881b
+size 622043
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202758.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202758.png
new file mode 100644
index 0000000000000000000000000000000000000000..1da8a468b6ef5c88272f94853a55918ea09f468a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202758.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:993f4ad7b66cffda14a8e3dbbcb33ca77b2a6028b5fda0e9d1aab3e96f6bebf7
+size 647884
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202800.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202800.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc288f9f76c2fc95a1737b3c3449fcfa06fcf1eb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202800.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f26604be86a2254f534eb37a237cd47def94c93dd53856a728ef6474ede895be
+size 666640
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202802.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202802.png
new file mode 100644
index 0000000000000000000000000000000000000000..b391f6d798dcc33a5ff9ae10a4168d2b297edab4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202802.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66054405110b804df0651e10c10b4d5528c07b911235b0e31b8f6bd14d9d43e2
+size 712010
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202804.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202804.png
new file mode 100644
index 0000000000000000000000000000000000000000..c56455f355d1620acb54f378703add8e4c633925
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202804.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3c43807eb56b64000b3f4aafb84021fa415c95add676c28f51c0c5216cacbea
+size 738325
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202807.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202807.png
new file mode 100644
index 0000000000000000000000000000000000000000..19ea467f6e5761a505b29bb26333a4961aeb378f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-26-8_233665123/20250114_202807.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:335911f913ae7030a35aca9e01e0dd3b4f3e4bfc9bf3ef1e150baf1d5ddf833a
+size 703502
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002606.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002606.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb7d4f8dd3fcf0a9039eae9c9e0d90d347d1a685
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002606.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ef9b0cde4217591696c6d3df64c247ccc661def3839ec7dce87ffdfa5e9480f
+size 587980
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002608.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002608.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8f659f398d45e626b184e612a0fe10a04c7ee5d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002608.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eacdc24e58753ee259a49fed9bc541e3e72f340944a19cfee6302bf8490e2e5
+size 910257
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002610.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002610.png
new file mode 100644
index 0000000000000000000000000000000000000000..485f8093dcdc4aebc538697d3482c34110e51b6e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002610.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67c3ce348e3f5da7c7751ca294071c095856670300aed620343b82393fae0189
+size 895572
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002612.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002612.png
new file mode 100644
index 0000000000000000000000000000000000000000..99e473ed7ca652dc8898aeb23433664197824791
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002612.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:880b3c44aec785107dfd5a53d348aa68971205fa4a43b059301ed9f2a41e2f56
+size 901732
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002615.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002615.png
new file mode 100644
index 0000000000000000000000000000000000000000..d77335a6e2dddecc65691b7a866610557a4c272b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002615.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83f7258ca2342815828b161d7f67c6b9a55e4747248fdb6f28b8279ddd07980f
+size 917319
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002617.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002617.png
new file mode 100644
index 0000000000000000000000000000000000000000..996e0aeb21e34a2bb19374ca2f17f1beaef40138
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002617.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a0ad2f522e5bcdbdd41eed72f3150e5d1c9df3c7d15793d7e433f5fd478c001
+size 936164
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002619.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002619.png
new file mode 100644
index 0000000000000000000000000000000000000000..2614bf5d99e0af048e0a312a42314862ba168ae8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002619.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f69b293ba8ff7b57d0bcd4bbc570e4f9b99c9847364a651d3f17478cc1b5211c
+size 941198
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002622.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002622.png
new file mode 100644
index 0000000000000000000000000000000000000000..1175d3ac986385a3621ae616221a2cde8d06f626
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002622.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:250167d43d3bf11073c943f3f7cf608f969c5de4941f07d8ffb70e7ca3a1b3cd
+size 944331
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002624.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002624.png
new file mode 100644
index 0000000000000000000000000000000000000000..cde7031e3bb479b8616d6ab0b792896e047ed8a9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002624.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7523f6095314f480568c70be162b8af01ac17d47d8a77c8928dffab8ab2c0694
+size 942454
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002626.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002626.png
new file mode 100644
index 0000000000000000000000000000000000000000..2613928463819c4826960551817033e804a3a28a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002626.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1af37982b0c72a5a575f7bfcb75045572a5c3687daacef8cad72c13333fdfd4f
+size 945180
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002628.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002628.png
new file mode 100644
index 0000000000000000000000000000000000000000..14d24cb1801a67afba35b1fbd374278ca627e1a9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002628.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d23bddd090b5b38ba46bf0b31b2bef35e479ce55714c898e3b3b7b6407e51ec7
+size 944978
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002631.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002631.png
new file mode 100644
index 0000000000000000000000000000000000000000..efb38f5eeb042bf774daecf88b7d1c93c46fb1d9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002631.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d93394d51a683c6cdbec9e806c394136fafd8f04d2f8dba5dacb5367ad842af9
+size 944575
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002633.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002633.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ee1248dbfe1e0c5265e5a91f33e9d00f15d0544
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002633.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f1f2e492a04af02043f1465efac77529a52020d8ccb34fe58a4abea8e87dcee
+size 939440
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002635.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002635.png
new file mode 100644
index 0000000000000000000000000000000000000000..366fe7047d1e95bfdc32c881dfde79783d7976d8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002635.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2189151fd01be77b6927c456d028a8229814fbf8fb3fd733509263ee1c38f4d4
+size 938180
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002638.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002638.png
new file mode 100644
index 0000000000000000000000000000000000000000..a761ea52073126da622708961b4b18592c0f9b40
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002638.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2180e08822fa36321e18eacf055c852ce8a07b604000c2771563f68baba6c2cc
+size 935733
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002640.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002640.png
new file mode 100644
index 0000000000000000000000000000000000000000..640d0d842541b7d63487de4859252e82054d299d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002640.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:365a6cd01e7ff8b76739e7a6b00ba261c43c9b1c64a27f12dfea54e687b48aa2
+size 934013
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002642.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002642.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e07ad340ea9ce8f0023d870092ae2092383c5f3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002642.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:138c879a471a4e4b1e108597274ecd5895d39a135444d8fe6604c3fb49c8d986
+size 930742
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002645.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002645.png
new file mode 100644
index 0000000000000000000000000000000000000000..00f2a719ec6bdd94b0f041eaa190b73895ce29e1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002645.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5c55f9e8280999373a5ce5f4430771033e423f201c26173d3373647869a65b8
+size 928115
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002647.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002647.png
new file mode 100644
index 0000000000000000000000000000000000000000..39f83c530b5b80cb99d5d5598d06426cafebd58c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002647.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29d80d6bb9c0eebdba56e5af649be0d629d74c061938bcee00c208250dd29de1
+size 920428
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002649.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002649.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e13225f4958837ac6a8c73858e0cafaaef42fa4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002649.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0c95c02bb65d868b9611c797ebd1df4c540e66533b81f49099234b2b80714d9
+size 919857
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002651.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002651.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7d380fe9229eebbb27905bf413e4558e57e1875
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002651.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f38da4e4ef173ae7d9be2c14a9b568cb67edfc84c6791a1591080c99feb27720
+size 925739
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002654.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002654.png
new file mode 100644
index 0000000000000000000000000000000000000000..e862cfea607e2917092efcd8e0151e79f21bab9b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002654.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74bba819d284cbd3d118b74886bafb1ba02202ebaf74f21823ffb8fda6e88763
+size 924072
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002656.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002656.png
new file mode 100644
index 0000000000000000000000000000000000000000..72c5a72a56cdc179a5bb5b1b3280f8f5b3d84fc2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002656.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30236abed5451e2605ddfbfab13d294a4b208cef49d35e3136a4d4268b9a8bcd
+size 927213
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002658.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002658.png
new file mode 100644
index 0000000000000000000000000000000000000000..cafac932d3cb19cda19f77b583daccb3ce1bfcc7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002658.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:070b16a7f3bc072e05ac8f157168468a7aeec7f6071620bef1fd7b3ba2c99c71
+size 925240
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002701.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002701.png
new file mode 100644
index 0000000000000000000000000000000000000000..efae6b5077ccca7e63307c7bc9fcab49858e92ae
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002701.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:187d5d929ce6aac35cf7d7eee6ef45f2e340ef1eba3bcf148f1c045aee679ada
+size 926295
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002703.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002703.png
new file mode 100644
index 0000000000000000000000000000000000000000..3fbcea824ef2696830e41b2e4af380ef536b76b8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002703.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cfb4931bfe2124980f30909724e0bbfda5d0568666942921977f5d87df5192d
+size 928052
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002706.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002706.png
new file mode 100644
index 0000000000000000000000000000000000000000..bcbe26ff9a32f1713996a255b9eb55fb938dcbd7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002706.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4de590b22b024993a5cdf784d3e4c5371fcd22ab1ccaea44fc96860c79049072
+size 928656
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002708.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002708.png
new file mode 100644
index 0000000000000000000000000000000000000000..80b6db0600e2dc16d99398064df340682982c880
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002708.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40093985fa189425cf559df548f064d479676a5ea93ca12ad9cbf0627e419f94
+size 926041
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002710.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002710.png
new file mode 100644
index 0000000000000000000000000000000000000000..917760e18c5792edfa47af6b4ca4ce98783c3d17
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002710.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d100c12f4c9443800a5f9f25981251eafaca3adcaf4cc19ae404725cf9eeff5e
+size 923890
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002712.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002712.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b65a8df5c5109f100cbe009a6465058e6039b74
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002712.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5caa791a229ac7f0b65a71d8e2caae69dfeb7d3cbf3d7f78cceadd6c8a71a308
+size 922455
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002715.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002715.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf19b42ea5d023166313757a736abfa2ad3074af
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002715.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d198fc8bdc590ce4181074fb29e89de0a3c687151628fd206c2f5cb6ca477bb8
+size 921711
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002717.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002717.png
new file mode 100644
index 0000000000000000000000000000000000000000..57efe32bdd99bdc69cf3f28eed94285cfb70fc51
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002717.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2b7370b750b04cc2c53f4b9677b5abd8dcc5de9bfdfd687f588433ceae41ed2
+size 915852
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002719.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002719.png
new file mode 100644
index 0000000000000000000000000000000000000000..a541b21b0e8d7439f07d45b3843009212f884e1a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002719.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fe2806887b35a08d9c33cc2fd93f9798d1c1f55756e49fd756a860707cf88fa
+size 903795
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002722.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002722.png
new file mode 100644
index 0000000000000000000000000000000000000000..9bccbd194004927e5c1fd2113304efd18af5b635
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002722.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e3d4e7a80ebb75cf67b6ea1cb98bbeb9b6b8d099bc6a1c632e45325c9b9a496
+size 874833
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002724.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002724.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef7a3fb1c9a44400419612b0c07fdaf777c6ed11
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002724.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:006c0481c84ad7f9cedd20a35bbdae0bcd15fa0771c159e8d0f20d0b2d9ae50e
+size 849729
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002726.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002726.png
new file mode 100644
index 0000000000000000000000000000000000000000..315a54ef16f5da37ef2ef15b74ddd075c030a8d6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002726.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3062ca5db05cf5050333d2b9969ae6b72e148989c0a907226b6d331a901e4559
+size 838905
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002729.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002729.png
new file mode 100644
index 0000000000000000000000000000000000000000..f05db30f0f25b875eb90dbf204e9d170c029741a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_0-25-59_2142757034/20250115_002729.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6ada5ec437481ec8be8a91e30b0693916233710d78c2d534d3754221d2e21e8
+size 592496
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010008.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010008.png
new file mode 100644
index 0000000000000000000000000000000000000000..76047fe726687676b1dc10bcac033eaed4eb7d6e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010008.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eb1c4205f9aefa45661f0078f43e4e6b407c884512b21f9a73de78e6b8be40e
+size 832970
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010010.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010010.png
new file mode 100644
index 0000000000000000000000000000000000000000..987d3d6c468ff4340b535b4ab60d30f0aa2e934c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010010.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74b936bb8b4187e92ac29811d1e44ae9888803972a51709b54aae24e9b05c917
+size 863047
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010013.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010013.png
new file mode 100644
index 0000000000000000000000000000000000000000..b08bc87552a1a598ab0c4e898686d557b77c435d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010013.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da931f9d120c9881dad7bab93e9e2c3b07f2dfb54f4045f5eca3bc8dd77fc8bb
+size 860653
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010015.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010015.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed607e187e5dfda7c43e713166e717d63205205a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010015.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1d5bacbd64d6e6bdece599f2ed605b77939dd0cd0bbf135898c8d30e6eaf1fd
+size 841385
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010017.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010017.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfde0b2e5b9603c1c9a8ddecd8c16a370cf00b00
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010017.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c841f47bd23a27f79ea777eae31a7952f947c67c6e82e9fd9ff00cb9e047e9c8
+size 807099
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010020.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010020.png
new file mode 100644
index 0000000000000000000000000000000000000000..67ba5b381dbf2783be8d3c1ab6532572077f3d8d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010020.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39cdc574c3292e61aa9a0d1bc1bd1b21cc8f6445741f0ebabfff43591973b861
+size 786188
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010022.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010022.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef8fbabb88d4c6199dbeec255adb82645c22a966
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010022.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f715326b814ef823ecf6d98f0c350cd973627228412f1b27079ccc678f50d38b
+size 750479
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010024.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010024.png
new file mode 100644
index 0000000000000000000000000000000000000000..871ef32a90718e563114efe5b2ef1b70715e1bff
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010024.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e353d745c46a60fa25a6d4efdd8bcbdebc047274770185aeb987bfb8773d4022
+size 748183
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010026.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010026.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e46be74b93d04a2afec928dddc74ac8816da013
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010026.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b60d106ec62a5ba6f5af1ede3720d996738d798f1ec6051dbfc49872e6e72364
+size 741633
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010029.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010029.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ffd789816722ba84ed5a558249cb6c24587c0cc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010029.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2abc8cb5399c58cfc2e7df79e812b1f1a3eddedc225230d233aa17089e3a50f
+size 732845
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010031.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010031.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c37c4d79d2bd897d409f0eef1201d625ad8672d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010031.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0fa69e3591a4a6ce2781a32ab7146e97edd3eed7ef33693097920f352210fef
+size 735533
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010033.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010033.png
new file mode 100644
index 0000000000000000000000000000000000000000..a612655cf4e3761f81c20856b45630d75d45d501
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010033.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5c8c0c0190fbf7b971c7f3d028f4b195b1a8e0c48c58609b9332e80cb79a3ef
+size 735425
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010035.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010035.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1c6159dce36a57ffca22f35d8d5f6cd98fb1854
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010035.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63f83d75e08e4f08342d56c7e3f914196889f25f1c2a9e30af7df6f51a9e908f
+size 733285
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010037.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010037.png
new file mode 100644
index 0000000000000000000000000000000000000000..334bbc86e6ee876ed413fea1c622be14a2ed1359
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010037.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:455c15864365d148be0985fd56eddea77fe28c0ec1223dcfda974019677a85ee
+size 734036
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010040.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010040.png
new file mode 100644
index 0000000000000000000000000000000000000000..f72f9ecf8bbf23eea9cb42a5d536c09562edb220
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010040.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa24ca6a3ee2787f6eb2506a4556f04360c327d1c8dc707a6fb99c7674aa647c
+size 737497
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010042.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010042.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a32a49d98a63ec724322565a8dd057c8f5d1421
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010042.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dac79468130b98bd86b990afed7bcd2deda685444df426ced1b98baa5e25ada6
+size 735325
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010044.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010044.png
new file mode 100644
index 0000000000000000000000000000000000000000..34490108b05815b11800efd59801460fe39678c7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010044.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c804f035a18716cd73c4d1d5215a95c8b9d676d7452749f03c1808a2649ea7b
+size 733605
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010046.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010046.png
new file mode 100644
index 0000000000000000000000000000000000000000..e36f0c7ff38062aa036ff2efa54482642c7ed519
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010046.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5046782bcd4b25ef20603b25c2f7269902c359b1c3e4752754a792c8f02c1fad
+size 735098
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010048.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010048.png
new file mode 100644
index 0000000000000000000000000000000000000000..deacd80b1dc7e57e7b2d9229ce054c7b71b261e6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010048.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ebf51ba0a91cdb703c279fb0b14187bcb36a98717b4a8a6f0e5b83f3867b33c
+size 733034
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010051.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010051.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea659ef5efb12813043257a8dbb3cede60472621
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010051.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9132a0294e85c2e64d481dba0ca139bc1f495b09b760f457fd58e6d381b76344
+size 731441
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010053.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010053.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a8c2418ad949febcff8d93255263f6bbb05a8f7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010053.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6126170013b0105e8626e00a84e7714aac94f9da962a418a827a39a9f46dc7b
+size 728923
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010055.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010055.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b4577b38c378fe5801ff15e6e84ec0657973106
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010055.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6651b4317d2c3e982091fd1a84a001da52b86423bc72f00f67316073cc1284f5
+size 723623
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010057.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010057.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9c7023ec75b1afb091ecd418df788e16f771fcb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010057.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e5e51b4a554fc6bb0aca9f3e8409adab1ea59eda83b89c0d7b18d3dac5a4ce0
+size 721816
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010059.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010059.png
new file mode 100644
index 0000000000000000000000000000000000000000..19dc8ca923ac7eb3a52561cc52d59a2b820f3561
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010059.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ffdcf8bf52b413239601a2ab98f8e370648ec8c7849a6f026f4e1e810890bb9
+size 717748
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010102.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010102.png
new file mode 100644
index 0000000000000000000000000000000000000000..01f0ec9dd01bf5fd969f4f9797acc95b3a2f227b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010102.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a2944ac635aaed3cdca17d5d84b2b5e68766b2e4dc318e002ea86e64d308307
+size 718225
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010104.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010104.png
new file mode 100644
index 0000000000000000000000000000000000000000..498a9b4a44900dd32a8eddd0fed41fed5276ea4e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010104.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88308695709bd5aaee95d9181ad98a478c1930975d261f5836273a9f737cf885
+size 711697
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010106.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010106.png
new file mode 100644
index 0000000000000000000000000000000000000000..c30bad20a4701dae184dcbcdfad7b56f4eb9bb48
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010106.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1939642c2840b0fcfb028923bbe584d4ec7f1f6550244cd665d119652da6516a
+size 707148
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010108.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010108.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfd69abf0f7b42c79c59873e69c80c603f71a200
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010108.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a35b274efdf56dd44df1f61536e6cd8ab55a5c4de7cba15548d7401722aad040
+size 693696
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010110.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010110.png
new file mode 100644
index 0000000000000000000000000000000000000000..8943e60923ffa13e8203f0a27c3e8f5d666e8952
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010110.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3174225e471cc24d93398f15fc40771e8866338b72c2667e943d6928a26f663
+size 679018
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010113.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010113.png
new file mode 100644
index 0000000000000000000000000000000000000000..8deb24b34edb373d931e43bd53e949ced2bcc722
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010113.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fd71b16a66ebd0f9cc6326c919a1aaf78df5e4b4e1cc0c90dc97c956d6185b3
+size 663067
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010115.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010115.png
new file mode 100644
index 0000000000000000000000000000000000000000..4dea8321a2d5f5a2e0da1e04163b8f9515d93730
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010115.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5192584a3f09b8317b9f1efcbee068acb8fe385dec7baffb6836a8d2d91ded03
+size 657224
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010117.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010117.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a518dad1807613429d54474033f899893ec011d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010117.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3cfa6daa725362752d4bf44a29cf6a169bfae64cd45c123603693b6d40a7026
+size 657728
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010119.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010119.png
new file mode 100644
index 0000000000000000000000000000000000000000..6442306487dd68c85fbc4284b0c5f11ba34695f4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010119.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb1221aec716921d8565478df968767b400271363fd2dc73ef00f064f74febec
+size 660235
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010121.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010121.png
new file mode 100644
index 0000000000000000000000000000000000000000..eaa6399ebb7e5e483b7c7ae3726e968fcc6655ae
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010121.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29be4c8067ff53942cb879020e1ad3df072f2638bedd86b7c6e73a2702fd504f
+size 662376
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010123.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010123.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d487f9a2006088a3025c2b7d46b3c378d87379a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010123.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad6192f6cb63a8f937865fd088375ef5c50b7d88e96174c40004bbbfbfeb62ee
+size 661917
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010126.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010126.png
new file mode 100644
index 0000000000000000000000000000000000000000..16c9e75a162c7fcb1d53bc5fd93422c39c703796
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010126.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2a9c555ea4efa3828d2fb1ff35e79232cd920f3087a9632709d41f0a85581c4
+size 660044
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010128.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010128.png
new file mode 100644
index 0000000000000000000000000000000000000000..93c786a9aecb82ef4bf348474c8523700a05e5fc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010128.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67f8f68551c68bf5cab70a92dc35245a456173b0834f7e012d47b7aa839321bc
+size 661813
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010130.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010130.png
new file mode 100644
index 0000000000000000000000000000000000000000..8019712064643299c751b01f9c9da97d01143877
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010130.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17a62d034a4f88a9328b4719f0859c3bf4f80d184655f54a402e421db70c15c4
+size 671480
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010132.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010132.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7b9b6b804e307390eb3871ea7461d60c33ffb45
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010132.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:103ac2ef9a64b1fe99e939a76612c9e0ec92b2c66be87a259285ffb3eeed5757
+size 686300
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010135.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010135.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2f81ba13780ae6ed9a75f84b3d2a0d14e6677cd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-0-2_653468858/20250115_010135.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f19575b4a6e6409a3f041f116040ac243a2bbef6156c863d7c4395f9e069738c
+size 737835
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154737.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154737.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fbe9141dd9fd12732268104e02bcc72cfed4f02
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154737.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:082d9f999e5e8f824a16546d8f68848f1ec0c2f26f469d91b561a3703dc812f1
+size 891241
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154739.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154739.png
new file mode 100644
index 0000000000000000000000000000000000000000..b20b2949e5f2f3014bfa14dc8be0561b2484c43b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154739.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94b9eca5a51ac0283217d5d82678677139a63c4399fcf37fb584b0202d3fc17f
+size 815052
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154742.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154742.png
new file mode 100644
index 0000000000000000000000000000000000000000..c482886fef3aadc3ab245b34276598229f174290
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154742.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8da47b45355df5b3dd5bf32c61e30750802e36d07a13e9e8481a3204d9eaadd7
+size 825526
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154744.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154744.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9dd39d45cbcaa48c894d74684d153a8547d3e79
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154744.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9587f4e143741ccb60f4bf3fdf28e188187c686d762aa1c1261bbc1df04ac82d
+size 847571
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154746.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154746.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b6560740f626e7bcc223defd2a976137472f046
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154746.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44ccb155e965dfc6735e439049efa9b0fb14b916d509d1a2ce95572dc7cd1ee8
+size 849306
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154748.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154748.png
new file mode 100644
index 0000000000000000000000000000000000000000..c633dee49360b3b8c7a08163a4a2395ceb88fcdd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154748.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4a7038ff1cd5aba5c470606a336b5f80cb97a02769e046334cecabc4c7d4ab6
+size 820488
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154751.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154751.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c8b434e21e58febf3827ea38bfdb22e80686534
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154751.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee49b48582b73fc74d5b009dffafe1f6eaa45ee38ad077a1b5742b5e120dbcee
+size 825189
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154753.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154753.png
new file mode 100644
index 0000000000000000000000000000000000000000..5afd828bad41aca5748409c8b02f80e19ef37061
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154753.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33f66eef0d3fd4ac47306c88d9f04e576a9f6b143f84f7a76d055683c63fa65c
+size 819391
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154755.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154755.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7ccd22dd7f90c3a1e5714fb8ef6f31f65f6048e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154755.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb7f82a8ed3052711a268f3a60fe5e94e6385a3568630233dd49a7efaab22ecb
+size 804637
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154757.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154757.png
new file mode 100644
index 0000000000000000000000000000000000000000..29a956377699c202c0ad67e0d437c8a2a653c3c7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154757.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6344710400e6e88ed237150560453d8cb05b018a77b8839b4b690c765edac08
+size 780463
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154800.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154800.png
new file mode 100644
index 0000000000000000000000000000000000000000..3232e8ec61d54eec8b22df88184161a197946321
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154800.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bce637dbcb9e25521a1187c61c0b960672be999a34b5ab1e798810bf65dda1f
+size 748105
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154802.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154802.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c25c3260749d60c73097ec10e7dc7eb05c4080d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154802.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faa7e3263b9694baaa7ce5ccc43044d75ad3c53adab7d19d05635afee90e45ba
+size 729123
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154804.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154804.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4ba870905bc18d69a305b3cacbb0712a16eab61
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154804.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34da650ce7179fd65dd78f9d20c253d523329a47283c3c59f657430139281b7b
+size 722145
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154806.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154806.png
new file mode 100644
index 0000000000000000000000000000000000000000..49dfe5e0901c46e01912f3413d066af95d7225b8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154806.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35c7cd8b142d643dc46d1b315f82d8b292083ec62014723b6de1b6314df8262d
+size 715314
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154808.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154808.png
new file mode 100644
index 0000000000000000000000000000000000000000..b794b37d8059432a151dca45100048496a585a6f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154808.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65849102ce63a8a12c014c2d21997f8909203da35982322b41847bbbb96f5a3f
+size 720195
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154810.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154810.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f2b63ba386859078a5fb03d7919605ab7832997
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154810.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e2c108e5be29ada12a13f6ff06b4c2d42d14769edc05734716633e857a1983d
+size 726657
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154813.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154813.png
new file mode 100644
index 0000000000000000000000000000000000000000..59e74d8a918a27e0701c10bbfe013305fa518d1b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154813.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b1f0e8f571c3c289472bcb23f687715be8dfdf1b0923e085029aa6f9484e53a
+size 735335
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154815.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154815.png
new file mode 100644
index 0000000000000000000000000000000000000000..a02b9f3d16aac2386abeabdcaa755264f0176fcd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154815.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f898b2e37b6fcf682edece08eb595bcaade5ae2166d32c5d80a048066fddde2
+size 744108
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154817.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154817.png
new file mode 100644
index 0000000000000000000000000000000000000000..d45e31fca92bfcbb71a3a3810f371d9afa2a8c59
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154817.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2651296b2567e270dc8a4bae6cdf072cad6457a10ca4659f983dab65f8d13366
+size 743239
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154819.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154819.png
new file mode 100644
index 0000000000000000000000000000000000000000..39b87b42383d37fcf328fc812771fd46ef81dd51
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154819.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c1d9bae53fc5438c92805daf503ca8230c1462558316d5998efbc735ab5fe09
+size 742305
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154822.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154822.png
new file mode 100644
index 0000000000000000000000000000000000000000..485cba082a254a616e41ab580c70970bdb3e27f2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154822.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aea7a1640b1ab184539bf808cc7e2c53821ee931d85c8b266b9a224df21e5659
+size 744958
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154824.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154824.png
new file mode 100644
index 0000000000000000000000000000000000000000..231696d3bdb215ca5c8976bf80bcfbee81a28ec2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154824.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf6d3b183582a56c3657e78c4702dc541997021e578dc8e373f874c4fefb6167
+size 748497
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154826.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154826.png
new file mode 100644
index 0000000000000000000000000000000000000000..d097599c0f14133510cb10891a5d097d9b805a1c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154826.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51c84a7e06468d4251453a06c134c6afc83128828def37f7e18ce5444b41b565
+size 739677
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154829.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154829.png
new file mode 100644
index 0000000000000000000000000000000000000000..d01acd79fbadd49a7ad9f77dd0632f579bfd64c6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154829.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2b887fb7771cb7aaf900e96aed8c8ed9ae4dce7936d88f02941dd566ee538e1
+size 727362
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154831.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154831.png
new file mode 100644
index 0000000000000000000000000000000000000000..a39369d7874b8924ed936dd630a824be7004b5cf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154831.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59088ffe56600f4dbd3e64864bbb21f9e110fef39bc5561c7c19d4ba9990eb5b
+size 711307
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154833.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154833.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb8d03705516ac8d9c4420e43945db034a26362f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154833.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:876c02394ec852bbb573c27683e5f095174d5d97811ad29402055b55410537f5
+size 698730
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154835.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154835.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e4062f99a05f6b9de47bf934f4cb23453745497
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154835.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c216a80213a60ab6714939e4cbb43d16a5828d49973ca3b2fe05913437d4b682
+size 699011
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154837.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154837.png
new file mode 100644
index 0000000000000000000000000000000000000000..007e1d4dac185d3838d504449ac6c9cb2add05f8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154837.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1454cc98092fabad07f6450c70e19f636868397419207a6c139c262053ad90e0
+size 694865
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154839.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154839.png
new file mode 100644
index 0000000000000000000000000000000000000000..46615bf091b75f391c364462e33dbc2410087ac1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154839.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04071cf8973eb21bd5bbd57adaaefcfc7c21447b528d659ab3cba717045a44b5
+size 716578
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154842.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154842.png
new file mode 100644
index 0000000000000000000000000000000000000000..f60e63506e4ae6735507ccb70939367c2dc4e195
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154842.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85d04a8732e2ce07a7fe04a90b534f0d56a57313b16826bae2caaa99b4d174c0
+size 754508
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154844.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154844.png
new file mode 100644
index 0000000000000000000000000000000000000000..591e410fbacce4c845b6f038925536067e3572a8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154844.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:949b9292563a35d684aa2a32ae9d64a7a59faba18613da58df3136103273ab3c
+size 772335
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154846.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154846.png
new file mode 100644
index 0000000000000000000000000000000000000000..dff9078879debe46a323f520b4b2e242d9fb580e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154846.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a62f6796124e857ee1fc3a00e5bfe56855c23e5b13c0d0b8f1f0239a3cd61fc
+size 779494
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154848.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154848.png
new file mode 100644
index 0000000000000000000000000000000000000000..c582991f5343e31c71ec829ee793e513dd7156a6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154848.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99c9c3592caab8f5b4bff44ffae6db27bc5ed7aa32da23e9889af09806dffdde
+size 792942
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154851.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154851.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc270dfe86b5f4bdb21fcbcaffcebdae2cda35dd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154851.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83d7ee885c94d47e5f11afd61df3e2e66d777b5edcd711b1a399cb9a0198e4f1
+size 785808
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154853.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154853.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6f06f884edcac68030605f3c1068fb9b5b4cf88
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154853.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f63af11af83bd1706eb9290b62e02b2a93767f3a6da374f44d24a73d46af1379
+size 791738
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154855.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154855.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4376d365d1a354636a5271749e163b0810c9fcb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154855.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6821ec071c60a68d4a9bec3d72d0763622599fd9492616ff44c761a43285255f
+size 782501
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154857.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154857.png
new file mode 100644
index 0000000000000000000000000000000000000000..92d30d089d12c17e55c9294639332276f0f7e5cc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154857.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46b5accd86cd545c106286aad48de977342e3b891f94b851996ad262710872ba
+size 766062
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154900.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154900.png
new file mode 100644
index 0000000000000000000000000000000000000000..f662a8ff99a9aa21a9d5a3069abdd564a9a1bef1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154900.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c76ce9de8a4bb247ef3cea33f86d3bc311d5e9665ba265facc4ae93df03dfd07
+size 750896
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154902.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154902.png
new file mode 100644
index 0000000000000000000000000000000000000000..eaed0080485fc71ab513fbd79bf1450a68594079
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-47-29_1122336503/20250115_154902.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd2e74a718ec19fd24fe475e83a2e5ed2b6a8398fe543fd798f216630e2940a7
+size 795762
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_2-7-18_1012502954/20250115_020745.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_2-7-18_1012502954/20250115_020745.png
new file mode 100644
index 0000000000000000000000000000000000000000..8efa95cee4391a965ff4cac06d80fe457bdb59b2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_2-7-18_1012502954/20250115_020745.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abd10fc9850961832380c5ea163bfe26852254bcba5a402651c5bb452d63d116
+size 833351
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_2-7-18_1012502954/20250115_020757.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_2-7-18_1012502954/20250115_020757.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd70cb2bf739657da402dced1d167ab0a082714e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_2-7-18_1012502954/20250115_020757.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0c0243a79916ac95c5379453767aa0ef5c27f708015c42d52bfb7750bccb045
+size 766041
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060231.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060231.png
new file mode 100644
index 0000000000000000000000000000000000000000..dddef23096e08193d07a5e3180499a73d872d30c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060231.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0aba3c78c7c474e4ffaa5dd73bff5b30cc075d122ba9514c5c2e045244cd790c
+size 479421
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060233.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060233.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a536935c5333dd2a402f18dd262f75561b5f590
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060233.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26886834f368c7729fb779ed5972caa86929edd11afaa3d30de854d737bea0da
+size 806510
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060235.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060235.png
new file mode 100644
index 0000000000000000000000000000000000000000..73e8120fc2f09f7e985c1ab498d88c3a86e0bd04
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060235.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45da2ed74816c36b5c9154290a156fde30909b43361c525b0da77564b3c95ccc
+size 778124
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060238.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060238.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f3aae0eaf9d62e300c028c507462dd0dc8cecf9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060238.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6e80348c4b49a5a7304d1b6d3220964ab0113c8471aa72a0db60af225269dbe
+size 731781
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060240.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060240.png
new file mode 100644
index 0000000000000000000000000000000000000000..3191ea1029c088c1904e25ffd95b33e97993cfcf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060240.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:424e2ec6fedd5bb3c6315ce789c5c189e4f4c5fa77ea1b5c931a9b2b82659ee2
+size 727715
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060242.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060242.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc917be005120a9cec24770ef2da5ea6006dac48
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060242.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5fdd1fee2722d05d01d55e6ffc67163197355593d49893cf864d270d785475a
+size 703617
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060244.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060244.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9a9c8b296ac14ce2d0ceb47948f4145a4863df7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060244.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fd5728653052d67c6baac128a48218f8766623614e6e4821d8173e7eaee5ac1
+size 705143
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060246.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060246.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7622a1ae10d732e29f44c332419efc979c93e7a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060246.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56b7d3abfb7e6096b207b50028865c4644e0f06b3573a1a2d95f3f63ef13b4db
+size 707919
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060249.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060249.png
new file mode 100644
index 0000000000000000000000000000000000000000..929e34c1f00c5825e64d32b0f1268966e53bb503
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060249.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0cbe9f59f6c57922f312aa08a85df5cb3359ffdeac205a0e93626b1324659ae
+size 712889
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060251.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060251.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4c29bc5ff87b39e26dd971d624771b49cbc0034
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060251.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23079891aa67d555e402f2a4a71e16671fd52c02f82457d8855fd6338f68ccef
+size 710466
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060253.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060253.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5a653e1185803f43c195e55e803cec62d45760f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060253.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bf9cdf05133628f6f80c12ca066619fb78041fdc9f5515ae37357ca7f77c5cd
+size 710810
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060255.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060255.png
new file mode 100644
index 0000000000000000000000000000000000000000..4599c493f18f6d2ea10ce1e8c306cee8c013b630
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060255.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:858e3d7c18697bf4c8c75be89b6b201053d7f8856e08a64da5db05e4558d0fc0
+size 717181
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060257.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060257.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5fbf27b67080cde89faedae509f346801137ee3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060257.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d76e493dc4b14264804bb6d41d469532ee221b8709a4070046927503398ea360
+size 725379
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060300.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060300.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b0a5ec2ec0ede640d16199886a9c43e35dd2b6b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060300.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea70c2dff82f73c01bf0ca5fe8d730d2341b8982d7a7a9d85c376e8109b84275
+size 716284
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060302.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060302.png
new file mode 100644
index 0000000000000000000000000000000000000000..39972ebceb4e76289fa06b22c8d2d851b5975e01
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060302.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2109b233ed9c63cc282dd1736ed275c37ec06e29b064bf028d3a5b55b25a5c43
+size 716698
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060304.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060304.png
new file mode 100644
index 0000000000000000000000000000000000000000..e728f3a45a1cc485799e38d551119c9a67aef760
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060304.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3330eded755d19035c11415bfe339a67a929a736afd0bf3ff8fd4d629136c2c2
+size 711221
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060306.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060306.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa341cc8a2f3c85cf017f212d5db39d982835058
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060306.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:217a268e29ec7b1a8e95ab491ed94eb915fe1834476f1b4cdab7287fd3f451bf
+size 709886
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060308.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060308.png
new file mode 100644
index 0000000000000000000000000000000000000000..b829e33fd5cca8ebabfc7db14143331620fc23c8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060308.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e3854bab4e3f444ddc482982b71dd6eaba22e1dc14a1b2c943a0017849360f0
+size 699099
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060310.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060310.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2dd673eab384ba158d3463aa865004717cc96a6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060310.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2244c6f08d98df028f89b2e0ab36154139a20dc311348f63edf92bdff33d3ae
+size 695107
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060313.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060313.png
new file mode 100644
index 0000000000000000000000000000000000000000..92b87e328f4c6522e138836f71f852bebdf6c9ad
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060313.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f546a6187021e23ef9cf1b16ce54a270aa92fb96e2384141fef0f14772fa81a
+size 715007
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060315.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060315.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ce357273c5da4cadd730fe2c4d718a5f1262c13
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060315.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:523d58c0745e25379956bcfeec996e1ed58f49cca4ad7f39ce6838efeb6aa986
+size 688636
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060317.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060317.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e0dde7f52fa9e6f5766ba24f0111506eaecce11
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060317.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:affd8fcf2824e3623a57bfc6282cd194c63f12f56b0d2cf5141406d639d5483a
+size 676742
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060319.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060319.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ea7ec6adc2f254149c2c46eb3b3d0ea3de3729e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060319.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:497111b711c0cd49778cd4de1966aa677154b581f0faeab6cd98e77efc75ab50
+size 673053
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060321.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060321.png
new file mode 100644
index 0000000000000000000000000000000000000000..485001cd5a93a0b392e5d30f95ba42e7da1667be
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060321.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff86eb9c037a2b6541004bb8a9ea91d884dcf3b4a3910f64992540f43cc6d19f
+size 658679
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060323.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060323.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad444c7c81775c0277294e1370d93e1bb934171f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060323.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b1ff071a0fd3af85df150865e0daa7c54f8408d3aa002012cea0b84abd56e81
+size 657276
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060326.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060326.png
new file mode 100644
index 0000000000000000000000000000000000000000..c05c19cef6201a454f1e730abb90f909d828319f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060326.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:205c768a0dfeea283b4643b18555eb3b00abb385d8ad1089fc21566cce751c55
+size 644474
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060328.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060328.png
new file mode 100644
index 0000000000000000000000000000000000000000..dadf379eb91f00a687d8cd4d00ebeb06208462d7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060328.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ffba39f66d10949b4ded4df45fd33e1fd0b11a0048b753eef5add0ba8c4c35a
+size 644697
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060330.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060330.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a7eb47d9e0b85e4b607cc7708ae372a9a3508fc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060330.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34ec1bc43a7e3f3a8dc866d9cd2b6866ea901fb22685a2b931ffde11d02b4589
+size 654102
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060332.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060332.png
new file mode 100644
index 0000000000000000000000000000000000000000..0482837a4a68bcb3e2ec31f708267a76a6294d0d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060332.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a3c4b4d76dffd7e5ce07738ba49b9efe864d2a26da1fd517c79e556db5c5514
+size 696989
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060334.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060334.png
new file mode 100644
index 0000000000000000000000000000000000000000..a63f79eb86549da6476b1d5e6cb1740342c91dcb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060334.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eab81be310de180650f267b7de97aaf65637c11a6f7afc77f48ffbd7dacf5e14
+size 731371
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060336.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060336.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8eac2ff2ea4e08302e6b914c6e3a471eeae7882
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-2-23_1858721860/20250115_060336.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c521b94f4c267cff17b0e9b2c5ddecdce2af5e4b8854c160bc8b670380eab287
+size 389360
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012229.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012229.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7d181be86ba1519f3c72733d45bfdccd56d0b8e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012229.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:407e3de6f709d2e741833d059347a80c9c7c29ef1170b24f227279a6b97a2c90
+size 720322
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012236.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012236.png
new file mode 100644
index 0000000000000000000000000000000000000000..796ac0cded0484e39b94e5870d7497f95172db36
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012236.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7e94d5899376086c01473d70ebf0ab0a59335092e143588aa329c93d5bdce82
+size 727054
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012238.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012238.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9a6429301ff52613bbc7e30d2018d233b43e3f6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012238.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ac4b24e88b535e79749ef89759beea6622d640075f2b3deb5968b0133423212
+size 728583
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012240.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012240.png
new file mode 100644
index 0000000000000000000000000000000000000000..23399c35ae95be465279b165afbcf2d87663bf49
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012240.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2214c39e8b26e978aef8a521a47ac4d999430189ddf94fc0ff1eb6817df68dff
+size 727842
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012242.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012242.png
new file mode 100644
index 0000000000000000000000000000000000000000..49c61b425c756b019f69ac3cc22dfa1657e33592
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012242.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:215e292b3383491b7b8ad5ab1156a2c2487ddec67983274622b9d7a93fff2bc2
+size 750959
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012245.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012245.png
new file mode 100644
index 0000000000000000000000000000000000000000..6eb1e4646c4e69bd73edb821450c5fc4ea2aea5a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012245.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef8e2b45768cb83fb8cdc1e68c6fdf92a1c4d6c31dc4cc5b23bb2d724b5ba14a
+size 757828
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012247.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012247.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ca27d8e3196f3526a46e8362251e1218968f36f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012247.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe44da4c921648733d73453d0715e2aa78c9a53764c7619380cb8f7e2760d593
+size 752224
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012251.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012251.png
new file mode 100644
index 0000000000000000000000000000000000000000..da568df9f1c01c5869bfd208b53f60284999bde3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012251.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7af5dfc18078a85d76e189b990d52ddb747aedfb9a93e2265f4d145b615b060d
+size 707994
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012253.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012253.png
new file mode 100644
index 0000000000000000000000000000000000000000..72fb727c7e0d51b1bf953caefc1bb7df7b154727
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012253.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b12c546a723d76d8840fc4b84e30808988f6f5a35fc57336b8e4c2419bcf9254
+size 707748
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012256.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012256.png
new file mode 100644
index 0000000000000000000000000000000000000000..8209027a8b945b5493258bc38bca69f63bf566e3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012256.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:262664608035c1c38922dceab493df9215308a07ac7633b9bd8b11af2503f869
+size 697913
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012258.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012258.png
new file mode 100644
index 0000000000000000000000000000000000000000..624a5731280bb38768ce3a6f835623a8c24148e9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012258.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8744162db506149119af958d040efc0c56b661ce22e3b7282f0d3bce0cc28823
+size 704915
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012300.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012300.png
new file mode 100644
index 0000000000000000000000000000000000000000..8aa0c6c1f919ccbb4c9e5a4867a9178027733ebf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012300.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dca87b6b342ea18de699f83dd15c19aacd2e5f5ae700906f05d8269830707a9
+size 714492
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012302.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012302.png
new file mode 100644
index 0000000000000000000000000000000000000000..02fa73a3952ac16f16f9f07577f3d8adebf34b64
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012302.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:541b7cebe154546b364cc80bc10cdb0e2dc6833a93bebc56e1313b9335e05538
+size 724635
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012306.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012306.png
new file mode 100644
index 0000000000000000000000000000000000000000..db3fcfa12e53b673de1400e9de4a8ddad8bfabc5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012306.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b405617fb0be78d0956b91d5b1bd76a39aa9d8cb0e1326ed7b6c30f5be1ab24e
+size 739700
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012309.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012309.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1d518f7346ea3748d469a04cace6252fac948f1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012309.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f5db6b909c8dd8d943754d832613442a91fa0b00b297cfc6395e81a15b22b8c
+size 741566
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012311.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012311.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a1ac1e8f6f83eeaa3a76f584554f5f97a00cb76
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012311.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61caaa5b579fe8d36782ec23620b1e82827cc0cc9f86815724761650698dfed6
+size 758174
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012313.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012313.png
new file mode 100644
index 0000000000000000000000000000000000000000..9988364e43eeb61add40afb2a9b9460cda04e706
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012313.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf25172a9ae81d0484f796c6997991deccaf16e9dfd7388b3ee09fc1eedb9979
+size 755675
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012324.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012324.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca297b8b594236d39ed9add16f8fe79f883f08eb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012324.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6588cd39a5160e0d30752c5461324f40a5ad45642154038e7047ccbe04a25b60
+size 672676
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012329.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012329.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ed545149bfa04c72da0fd7475b1f4bcf2d42197
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012329.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e75f5362c8f0a0c643ae4872a40483bdddbd3b6313c3dd26b30a9b78345a6ee
+size 722168
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012331.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012331.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0d5afd4cc14af445b795f885f73967eaf29acd0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012331.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f09d887e9fb365f82676fb582bf7bc9fb120193e14f678b313434d4f184b70a5
+size 730883
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012336.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012336.png
new file mode 100644
index 0000000000000000000000000000000000000000..77135dbdd6712e2a7e60c21d0757deceaf6e3bb0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012336.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3d0804d6643aa573ea80ff8a34fcd8286832c6b0ff011799afc1d6e33777191
+size 735883
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012340.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012340.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb139116d9ca6584b978e4bf90e5108f27c6839c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012340.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70c94ff811b76cec3ec46542ddd90f89a99f220236c4e97ee7c0cebae23ccc20
+size 704549
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012342.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012342.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a72aea1d729139e48d598fa807c8100d5f9a451
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012342.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82b3fe0ab2999bbf06a04bfa24f6ed06e2b22f38d1a200255e89b19ac0bbe866
+size 700912
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012347.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012347.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7ccb3e86fde155a366eda0c810519986a1ea9b7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012347.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34d52b2dbdebefdcef24df71a73d8a029ab22f013d6fedcf519dbd27f035691e
+size 707561
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012349.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012349.png
new file mode 100644
index 0000000000000000000000000000000000000000..47bfb61a7d0407d7debb5e2e625ebfab96090d6d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012349.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a46f27981b200ebbb279d55052a88910f10903e6d4711e2617135512faeecf0e
+size 710326
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012353.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012353.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e4cbadd6b35e7647568a49b2210f30ffb997574
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-22-19_752704313/20250116_012353.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e91152cce50f5a77ffbcbaef2a219db3fd3d8ab26f18411da6f5d28ef5cc5d8
+size 542883