diff --git a/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-37-42_307925/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-37-42_307925/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8d85346d3b49feba68a10843038df5deda578bef
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-37-42_307925/pose.jsonl
@@ -0,0 +1,756 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            32.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            35.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            38.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            41.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            44.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            47.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            50.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            53.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            56.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            59.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            62.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            65.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            68.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            71.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            74.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            77.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            80.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            83.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            86.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            89.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            92.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            95.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            98.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            101.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            104.08574921878036
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            107.08574921878036
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            107.08574921878036
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            107.08574921878036
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            202.21181036899674,
+            52.02319303789615,
+            107.08574921878036
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            202.21181036899674,
+            55.02319303789615,
+            107.08574921878036
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            202.21181036899674,
+            58.02319303789615,
+            107.08574921878036
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            107.08574921878036
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            104.08574921878036
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            101.08574921878036
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            98.08574921878036
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            95.08574921878036
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            92.08574921878036
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            89.08574921878036
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            86.08574921878036
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            83.08574921878036
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            80.08574921878036
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            77.08574921878036
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            74.08574921878036
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            71.08574921878036
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            68.08574921878036
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            65.08574921878036
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            62.085749218780364
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            59.085749218780364
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            56.085749218780364
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            53.085749218780364
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            50.085749218780364
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            47.085749218780364
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            44.085749218780364
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            41.085749218780364
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            38.085749218780364
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            35.085749218780364
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            202.21181036899674,
+            61.02319303789615,
+            32.085749218780364
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            212.0,
+            120.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-39-38_156785/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-39-38_156785/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0993779f0b9ec496a103d961feb171aae1674b22
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-39-38_156785/pose.jsonl
@@ -0,0 +1,938 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            20.755952638315545
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            23.755952638315545
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            26.755952638315545
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            29.755952638315545
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            32.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            35.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            38.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            41.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            44.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            47.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            50.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            53.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            56.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            59.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            62.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            65.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            68.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            71.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            74.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            77.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            80.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            83.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            86.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            89.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            92.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            95.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            98.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            101.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            104.75595263831555
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            77.31159490148141,
+            -151.524285117889,
+            107.75595263831555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            80.31159490148141,
+            -151.524285117889,
+            107.75595263831555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            83.31159490148141,
+            -151.524285117889,
+            107.75595263831555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            107.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            104.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            101.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            98.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            95.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            92.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            89.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            86.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            83.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            80.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            77.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            74.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            71.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            68.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            65.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            62.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            59.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            56.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            53.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            50.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            47.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            44.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            86.31159490148141,
+            -151.524285117889,
+            41.75595263831555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            89.31159490148141,
+            -151.524285117889,
+            41.75595263831555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            92.31159490148141,
+            -151.524285117889,
+            41.75595263831555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            95.31159490148141,
+            -151.524285117889,
+            41.75595263831555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            98.31159490148141,
+            -151.524285117889,
+            41.75595263831555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            101.31159490148141,
+            -151.524285117889,
+            41.75595263831555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            104.31159490148141,
+            -151.524285117889,
+            41.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            104.31159490148141,
+            -151.524285117889,
+            38.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            104.31159490148141,
+            -151.524285117889,
+            35.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            104.31159490148141,
+            -151.524285117889,
+            32.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            104.31159490148141,
+            -151.524285117889,
+            29.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            104.31159490148141,
+            -151.524285117889,
+            26.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            104.31159490148141,
+            -151.524285117889,
+            23.75595263831555
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            104.31159490148141,
+            -151.524285117889,
+            23.75595263831555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            106.90967111283473,
+            -150.024285117889,
+            23.75595263831555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            109.50774732418805,
+            -148.524285117889,
+            23.75595263831555
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            109.50774732418805,
+            -148.524285117889,
+            20.75595263831555
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            140.0,
+            -144.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-42-51_115005/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-42-51_115005/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..047dc3bffbe173047cace97cb9630ca716124399
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-42-51_115005/pose.jsonl
@@ -0,0 +1,912 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            169.4373152230997,
+            161.45605643600413,
+            28.680441712178535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            167.9373152230997,
+            158.85798022465082,
+            28.680441712178535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            166.4373152230997,
+            156.2599040132975,
+            28.680441712178535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            164.9373152230997,
+            153.66182780194418,
+            28.680441712178535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            28.680441712178535
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            31.680441712178535
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            34.680441712178535
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            37.680441712178535
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            40.680441712178535
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            43.680441712178535
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            46.680441712178535
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            49.680441712178535
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            52.680441712178535
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            55.680441712178535
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            58.680441712178535
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            61.680441712178535
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            64.68044171217853
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            67.68044171217853
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            70.68044171217853
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            73.68044171217853
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            76.68044171217853
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            79.68044171217853
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            82.68044171217853
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            85.68044171217853
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            88.68044171217853
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            91.68044171217853
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            94.68044171217853
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            97.68044171217853
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            100.68044171217853
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            103.68044171217853
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            106.68044171217853
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            109.68044171217853
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            163.4373152230997,
+            151.06375159059087,
+            112.68044171217853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            161.9373152230997,
+            148.46567537923755,
+            112.68044171217853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            160.4373152230997,
+            145.86759916788424,
+            112.68044171217853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            158.9373152230997,
+            143.26952295653092,
+            112.68044171217853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            112.68044171217853
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            109.68044171217853
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            106.68044171217853
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            103.68044171217853
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            100.68044171217853
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            97.68044171217853
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            94.68044171217853
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            91.68044171217853
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            88.68044171217853
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            85.68044171217853
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            82.68044171217853
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            79.68044171217853
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            76.68044171217853
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            73.68044171217853
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            70.68044171217853
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            67.68044171217853
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            64.68044171217853
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            61.680441712178535
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            58.680441712178535
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            55.680441712178535
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            52.680441712178535
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            49.680441712178535
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            46.680441712178535
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            43.680441712178535
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            40.680441712178535
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            37.680441712178535
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            34.680441712178535
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            157.4373152230997,
+            140.6714467451776,
+            34.680441712178535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            157.4373152230997,
+            137.6714467451776,
+            34.680441712178535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            157.4373152230997,
+            134.6714467451776,
+            34.680441712178535
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            157.4373152230997,
+            134.6714467451776,
+            31.680441712178535
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            157.4373152230997,
+            134.6714467451776,
+            28.680441712178535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            157.4373152230997,
+            131.6714467451776,
+            28.680441712178535
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            148.0,
+            104.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-44-51_566961/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-44-51_566961/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..406f68b9089f2c612d498697dc2e561bbecad394
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-44-51_566961/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            127.90922474900617,
+            -113.46673014761281,
+            36.55813137782435
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            127.90922474900617,
+            -113.46673014761281,
+            33.55813137782435
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            127.90922474900617,
+            -113.46673014761281,
+            30.558131377824353
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            127.90922474900617,
+            -113.46673014761281,
+            27.558131377824353
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            127.90922474900617,
+            -113.46673014761281,
+            24.558131377824353
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            127.90922474900617,
+            -113.46673014761281,
+            24.558131377824353
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            127.90922474900617,
+            -113.46673014761281,
+            24.558131377824353
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            127.90922474900617,
+            -113.46673014761281,
+            24.558131377824353
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            127.90922474900617,
+            -113.46673014761281,
+            24.558131377824353
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            127.90922474900617,
+            -113.46673014761281,
+            24.558131377824353
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            127.90922474900617,
+            -113.46673014761281,
+            24.558131377824353
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            124.90922474900617,
+            -113.46673014761281,
+            24.558131377824353
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            124.90922474900617,
+            -113.46673014761281,
+            21.558131377824353
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            121.90922474900617,
+            -113.46673014761281,
+            21.558131377824353
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            118.90922474900617,
+            -113.46673014761281,
+            21.558131377824353
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            115.90922474900617,
+            -113.46673014761281,
+            21.558131377824353
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            112.90922474900617,
+            -113.46673014761281,
+            21.558131377824353
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            109.90922474900617,
+            -113.46673014761281,
+            21.558131377824353
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            106.90922474900617,
+            -113.46673014761281,
+            21.558131377824353
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            103.90922474900617,
+            -113.46673014761281,
+            21.558131377824353
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            100.90922474900617,
+            -113.46673014761281,
+            21.558131377824353
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            100.90922474900617,
+            -113.46673014761281,
+            21.558131377824353
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            98.31114853765285,
+            -111.96673014761281,
+            21.558131377824353
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            95.71307232629954,
+            -110.46673014761281,
+            21.558131377824353
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            93.11499611494622,
+            -108.96673014761281,
+            21.558131377824353
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            93.11499611494622,
+            -108.96673014761281,
+            24.558131377824353
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            93.11499611494622,
+            -108.96673014761281,
+            27.558131377824353
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            93.11499611494622,
+            -108.96673014761281,
+            30.558131377824353
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            93.11499611494622,
+            -108.96673014761281,
+            33.55813137782435
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            93.11499611494622,
+            -108.96673014761281,
+            36.55813137782435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            90.5169199035929,
+            -107.46673014761281,
+            36.55813137782435
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            -104.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-49-29_439307/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-49-29_439307/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0ab8f8258d4345098898098930ce619538fd5456
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-49-29_439307/pose.jsonl
@@ -0,0 +1,1055 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -224.88902508159168,
+            49.0107625480359,
+            38.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -226.38902508159168,
+            46.41268633668258,
+            38.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -227.88902508159168,
+            43.81461012532927,
+            38.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -229.38902508159168,
+            41.21653391397595,
+            38.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -230.88902508159168,
+            38.618457702622635,
+            38.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -232.38902508159168,
+            36.02038149126932,
+            38.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -233.88902508159168,
+            33.422305279916,
+            38.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -235.38902508159168,
+            30.824229068562687,
+            38.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -236.88902508159168,
+            28.22615285720937,
+            38.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -238.38902508159168,
+            25.628076645856055,
+            38.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -239.88902508159168,
+            23.03000043450274,
+            38.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -241.38902508159168,
+            20.431924223149423,
+            38.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            38.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            41.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            44.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            47.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            50.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            53.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            56.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            59.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            62.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            65.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            68.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            71.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            74.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            77.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            80.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            83.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            86.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            89.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            92.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            95.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            98.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            101.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            104.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            107.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            110.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            113.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            116.00302626244428
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            119.00302626244428
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -242.88902508159168,
+            17.833848011796107,
+            119.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -242.88902508159168,
+            14.833848011796107,
+            119.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -242.88902508159168,
+            11.833848011796107,
+            119.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -242.88902508159168,
+            8.833848011796107,
+            119.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -242.88902508159168,
+            5.833848011796107,
+            119.00302626244428
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -242.88902508159168,
+            5.833848011796107,
+            119.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -244.38902508159168,
+            3.235771800442791,
+            119.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -245.88902508159168,
+            0.6376955890894749,
+            119.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -247.38902508159168,
+            -1.9603806222638411,
+            119.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -248.88902508159168,
+            -4.558456833617157,
+            119.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -250.38902508159168,
+            -7.156533044970473,
+            119.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -251.88902508159168,
+            -9.75460925632379,
+            119.00302626244428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            119.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            116.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            113.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            110.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            107.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            104.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            101.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            98.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            95.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            92.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            89.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            86.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            83.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            80.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            77.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            74.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            71.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            68.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            65.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            62.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            59.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            56.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            53.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            50.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            47.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            44.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            41.00302626244428
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -253.38902508159168,
+            -12.352685467677105,
+            38.00302626244428
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -264.0,
+            -32.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-51-51_597681/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-51-51_597681/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5a872c56bf37900245e9b737e43371df900319a1
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-51-51_597681/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            40.110354681955364
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            43.110354681955364
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            46.110354681955364
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            49.110354681955364
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            52.110354681955364
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            55.110354681955364
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            58.110354681955364
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            61.110354681955364
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            64.11035468195536
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            67.11035468195536
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            70.11035468195536
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            73.11035468195536
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            76.11035468195536
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            79.11035468195536
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            82.11035468195536
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            85.11035468195536
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            88.11035468195536
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            88.11035468195536
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            88.11035468195536
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            88.11035468195536
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            88.11035468195536
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -84.95210635809707,
+            65.35635739218384,
+            88.11035468195536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -87.55018256945039,
+            66.85635739218384,
+            88.11035468195536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -90.1482587808037,
+            68.35635739218384,
+            88.11035468195536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -92.74633499215702,
+            69.85635739218384,
+            88.11035468195536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -95.34441120351033,
+            71.35635739218384,
+            88.11035468195536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -97.94248741486365,
+            72.85635739218384,
+            88.11035468195536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -100.54056362621697,
+            74.35635739218384,
+            88.11035468195536
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -100.54056362621697,
+            74.35635739218384,
+            88.11035468195536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -102.04056362621697,
+            76.95443360353715,
+            88.11035468195536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -103.54056362621697,
+            79.55250981489047,
+            88.11035468195536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -105.04056362621697,
+            82.15058602624379,
+            88.11035468195536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -106.54056362621697,
+            84.7486622375971,
+            88.11035468195536
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -106.54056362621697,
+            84.7486622375971,
+            85.11035468195536
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -106.54056362621697,
+            84.7486622375971,
+            82.11035468195536
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -106.54056362621697,
+            84.7486622375971,
+            79.11035468195536
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -106.54056362621697,
+            84.7486622375971,
+            76.11035468195536
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -106.54056362621697,
+            84.7486622375971,
+            73.11035468195536
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -106.54056362621697,
+            84.7486622375971,
+            70.11035468195536
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -106.54056362621697,
+            84.7486622375971,
+            67.11035468195536
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -106.54056362621697,
+            84.7486622375971,
+            64.11035468195536
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -106.54056362621697,
+            84.7486622375971,
+            61.11035468195536
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -106.54056362621697,
+            84.7486622375971,
+            58.11035468195536
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -106.54056362621697,
+            84.7486622375971,
+            55.11035468195536
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -106.54056362621697,
+            84.7486622375971,
+            52.11035468195536
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -106.54056362621697,
+            84.7486622375971,
+            49.11035468195536
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -106.54056362621697,
+            84.7486622375971,
+            46.11035468195536
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -106.54056362621697,
+            84.7486622375971,
+            46.11035468195536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -109.13863983757028,
+            86.2486622375971,
+            46.11035468195536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -111.7367160489236,
+            87.7486622375971,
+            46.11035468195536
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -111.7367160489236,
+            87.7486622375971,
+            43.11035468195536
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -111.7367160489236,
+            87.7486622375971,
+            43.11035468195536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -114.7367160489236,
+            87.7486622375971,
+            43.11035468195536
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -136.0,
+            104.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-52-33_452324/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-52-33_452324/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..defd579185e8ab00c542f1efd11e48bf6a275c15
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-52-33_452324/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            102.89898497204145,
+            137.84912429969057,
+            31.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            99.89898497204145,
+            137.84912429969057,
+            31.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            96.89898497204145,
+            137.84912429969057,
+            31.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            93.89898497204145,
+            137.84912429969057,
+            31.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            90.89898497204145,
+            137.84912429969057,
+            31.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            87.89898497204145,
+            137.84912429969057,
+            31.601805918231037
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            87.89898497204145,
+            137.84912429969057,
+            28.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            84.89898497204145,
+            137.84912429969057,
+            28.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            81.89898497204145,
+            137.84912429969057,
+            28.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            78.89898497204145,
+            137.84912429969057,
+            28.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            75.89898497204145,
+            137.84912429969057,
+            28.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            72.89898497204145,
+            137.84912429969057,
+            28.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            69.89898497204145,
+            137.84912429969057,
+            28.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            66.89898497204145,
+            137.84912429969057,
+            28.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            63.89898497204145,
+            137.84912429969057,
+            28.601805918231037
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            63.89898497204145,
+            137.84912429969057,
+            28.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            61.30090876068813,
+            139.34912429969057,
+            28.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            58.702832549334815,
+            140.84912429969057,
+            28.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            56.1047563379815,
+            142.34912429969057,
+            28.601805918231037
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            56.1047563379815,
+            142.34912429969057,
+            28.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            54.6047563379815,
+            144.9472005110439,
+            28.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            53.1047563379815,
+            147.5452767223972,
+            28.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            51.6047563379815,
+            150.14335293375052,
+            28.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            50.1047563379815,
+            152.74142914510384,
+            28.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            48.6047563379815,
+            155.33950535645715,
+            28.601805918231037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            47.1047563379815,
+            157.93758156781047,
+            28.601805918231037
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            47.1047563379815,
+            157.93758156781047,
+            31.601805918231037
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            28.0,
+            164.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-54-17_748099/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-54-17_748099/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4dba8bd618943efba94d079abd97256b6eb897e7
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-54-17_748099/pose.jsonl
@@ -0,0 +1,925 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            165.3148485331617,
+            165.89660652545507,
+            32.74762640371871
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            165.3148485331617,
+            162.89660652545507,
+            32.74762640371871
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            165.3148485331617,
+            159.89660652545507,
+            32.74762640371871
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            165.3148485331617,
+            156.89660652545507,
+            32.74762640371871
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            165.3148485331617,
+            153.89660652545507,
+            32.74762640371871
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            32.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            35.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            38.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            41.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            44.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            47.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            50.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            53.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            56.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            59.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            62.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            65.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            68.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            71.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            74.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            77.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            80.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            83.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            86.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            89.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            92.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            95.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            98.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            101.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            104.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            107.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            110.74762640371871
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            113.74762640371871
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            165.3148485331617,
+            150.89660652545507,
+            113.74762640371871
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            163.8148485331617,
+            148.29853031410175,
+            113.74762640371871
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            162.3148485331617,
+            145.70045410274844,
+            113.74762640371871
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            160.8148485331617,
+            143.10237789139512,
+            113.74762640371871
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            113.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            110.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            107.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            104.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            101.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            98.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            95.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            92.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            89.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            86.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            83.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            80.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            77.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            74.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            71.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            68.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            65.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            62.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            59.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            56.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            53.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            50.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            47.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            44.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            159.3148485331617,
+            140.5043016800418,
+            41.74762640371871
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            157.8148485331617,
+            137.9062254686885,
+            41.74762640371871
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            156.3148485331617,
+            135.30814925733517,
+            41.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            156.3148485331617,
+            135.30814925733517,
+            38.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            156.3148485331617,
+            135.30814925733517,
+            35.74762640371871
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            156.3148485331617,
+            135.30814925733517,
+            35.74762640371871
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            156.3148485331617,
+            132.30814925733517,
+            35.74762640371871
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            156.3148485331617,
+            129.30814925733517,
+            35.74762640371871
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            156.3148485331617,
+            129.30814925733517,
+            32.74762640371871
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            148.0,
+            104.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-57-25_716514/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-57-25_716514/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9bb2ba5ebbc245c3a31d1891d3b3eaaa951bf20c
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-01-18_23-57-25_716514/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            33.08028139502504,
+            -219.85592590582513,
+            49.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            33.08028139502504,
+            -222.85592590582513,
+            49.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            33.08028139502504,
+            -225.85592590582513,
+            49.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            33.08028139502504,
+            -228.85592590582513,
+            49.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            33.08028139502504,
+            -231.85592590582513,
+            49.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            33.08028139502504,
+            -234.85592590582513,
+            49.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            33.08028139502504,
+            -237.85592590582513,
+            49.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            33.08028139502504,
+            -240.85592590582513,
+            49.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            33.08028139502504,
+            -243.85592590582513,
+            49.35710092863464
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            33.08028139502504,
+            -243.85592590582513,
+            52.35710092863464
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            33.08028139502504,
+            -243.85592590582513,
+            52.35710092863464
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            33.08028139502504,
+            -243.85592590582513,
+            52.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            30.482205183671724,
+            -245.35592590582513,
+            52.35710092863464
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            30.482205183671724,
+            -245.35592590582513,
+            52.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            28.982205183671724,
+            -247.95400211717845,
+            52.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            27.482205183671724,
+            -250.55207832853176,
+            52.35710092863464
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            27.482205183671724,
+            -250.55207832853176,
+            52.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            27.482205183671724,
+            -253.55207832853176,
+            52.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            27.482205183671724,
+            -256.55207832853176,
+            52.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            27.482205183671724,
+            -259.55207832853176,
+            52.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            27.482205183671724,
+            -262.55207832853176,
+            52.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            27.482205183671724,
+            -265.55207832853176,
+            52.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            27.482205183671724,
+            -268.55207832853176,
+            52.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            27.482205183671724,
+            -271.55207832853176,
+            52.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            27.482205183671724,
+            -274.55207832853176,
+            52.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            27.482205183671724,
+            -277.55207832853176,
+            52.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            27.482205183671724,
+            -280.55207832853176,
+            52.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            27.482205183671724,
+            -283.55207832853176,
+            52.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            27.482205183671724,
+            -286.55207832853176,
+            52.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            27.482205183671724,
+            -289.55207832853176,
+            52.35710092863464
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            27.482205183671724,
+            -292.55207832853176,
+            52.35710092863464
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            27.482205183671724,
+            -292.55207832853176,
+            49.35710092863464
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            28.0,
+            -308.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-10-33_1957747793/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-10-33_1957747793/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3ba8b05592e1128ee1cfe371442960b9bd7d0301
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-10-33_1957747793/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -215.4719611446001,
+            -14.032924801800661,
+            23.71533806132525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -216.9719611446001,
+            -16.631001013153977,
+            23.71533806132525
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -216.9719611446001,
+            -16.631001013153977,
+            23.71533806132525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -216.9719611446001,
+            -19.631001013153977,
+            23.71533806132525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -216.9719611446001,
+            -22.631001013153977,
+            23.71533806132525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -216.9719611446001,
+            -25.631001013153977,
+            23.71533806132525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -216.9719611446001,
+            -28.631001013153977,
+            23.71533806132525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -216.9719611446001,
+            -31.631001013153977,
+            23.71533806132525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -216.9719611446001,
+            -34.63100101315398,
+            23.71533806132525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -216.9719611446001,
+            -37.63100101315398,
+            23.71533806132525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -216.9719611446001,
+            -40.63100101315398,
+            23.71533806132525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -216.9719611446001,
+            -43.63100101315398,
+            23.71533806132525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -216.9719611446001,
+            -46.63100101315398,
+            23.71533806132525
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -216.9719611446001,
+            -46.63100101315398,
+            23.71533806132525
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -216.9719611446001,
+            -46.63100101315398,
+            23.71533806132525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -219.57003735595342,
+            -48.13100101315398,
+            23.71533806132525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -222.16811356730673,
+            -49.63100101315398,
+            23.71533806132525
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -222.16811356730673,
+            -49.63100101315398,
+            23.71533806132525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -223.66811356730673,
+            -52.22907722450729,
+            23.71533806132525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -225.16811356730673,
+            -54.82715343586061,
+            23.71533806132525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -226.66811356730673,
+            -57.425229647213925,
+            23.71533806132525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -228.16811356730673,
+            -60.02330585856724,
+            23.71533806132525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -229.66811356730673,
+            -62.62138206992056,
+            23.71533806132525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -231.16811356730673,
+            -65.21945828127387,
+            23.71533806132525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -232.66811356730673,
+            -67.81753449262719,
+            23.71533806132525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -234.16811356730673,
+            -70.4156107039805,
+            23.71533806132525
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -244.0,
+            -96.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-11-18_719885386/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-11-18_719885386/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..13ddd1842ac31d91459504e780aa52a448f40211
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-11-18_719885386/pose.jsonl
@@ -0,0 +1,93 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -47.336898008874876,
+            -239.12029317096437,
+            44.28104589530708
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -47.336898008874876,
+            -236.12029317096437,
+            44.28104589530708
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -47.336898008874876,
+            -233.12029317096437,
+            44.28104589530708
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -47.336898008874876,
+            -230.12029317096437,
+            44.28104589530708
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -47.336898008874876,
+            -227.12029317096437,
+            44.28104589530708
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -47.336898008874876,
+            -224.12029317096437,
+            44.28104589530708
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -36.0,
+            -152.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-12-42_1350490027/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-12-42_1350490027/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ccfb8164fee36e0789473483bf9550a01067f2fe
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-12-42_1350490027/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -55.794619747119505,
+            -255.134605415323,
+            45.09346644008943
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -55.794619747119505,
+            -258.134605415323,
+            45.09346644008943
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -55.794619747119505,
+            -261.134605415323,
+            45.09346644008943
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -55.794619747119505,
+            -264.134605415323,
+            45.09346644008943
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -55.794619747119505,
+            -267.134605415323,
+            45.09346644008943
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -55.794619747119505,
+            -270.134605415323,
+            45.09346644008943
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -55.794619747119505,
+            -273.134605415323,
+            45.09346644008943
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -55.794619747119505,
+            -276.134605415323,
+            45.09346644008943
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -55.794619747119505,
+            -276.134605415323,
+            45.09346644008943
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -54.294619747119505,
+            -278.7326816266763,
+            45.09346644008943
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -52.794619747119505,
+            -281.3307578380296,
+            45.09346644008943
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -51.294619747119505,
+            -283.92883404938294,
+            45.09346644008943
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -49.794619747119505,
+            -286.52691026073626,
+            45.09346644008943
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -48.294619747119505,
+            -289.1249864720896,
+            45.09346644008943
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -48.294619747119505,
+            -289.1249864720896,
+            45.09346644008943
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -48.294619747119505,
+            -292.1249864720896,
+            45.09346644008943
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -48.294619747119505,
+            -295.1249864720896,
+            45.09346644008943
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -36.0,
+            -352.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-24-48_2044897763/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-24-48_2044897763/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b12e3b78357c9940ea52edb29a277ecb84f08e8d
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-24-48_2044897763/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            143.98311778683154,
+            -276.208123510855,
+            24.6122812505548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            145.48311778683154,
+            -273.6100472995017,
+            24.6122812505548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            146.98311778683154,
+            -271.01197108814836,
+            24.6122812505548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            148.48311778683154,
+            -268.41389487679504,
+            24.6122812505548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            149.98311778683154,
+            -265.8158186654417,
+            24.6122812505548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            151.48311778683154,
+            -263.2177424540884,
+            24.6122812505548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            152.98311778683154,
+            -260.6196662427351,
+            24.6122812505548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            154.48311778683154,
+            -258.0215900313818,
+            24.6122812505548
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            168.0,
+            -220.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-24-56_1967513926/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-24-56_1967513926/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9d496d679ac14d17f09ba42d86d92d96fa8d77bd
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-24-56_1967513926/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -206.36830817825359,
+            -149.07757440653876,
+            38.10230354502442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -204.86830817825359,
+            -146.47949819518544,
+            38.10230354502442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -203.36830817825359,
+            -143.88142198383213,
+            38.10230354502442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -201.86830817825359,
+            -141.2833457724788,
+            38.10230354502442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -200.36830817825359,
+            -138.6852695611255,
+            38.10230354502442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -198.86830817825359,
+            -136.08719334977218,
+            38.10230354502442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -197.36830817825359,
+            -133.48911713841886,
+            38.10230354502442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -195.86830817825359,
+            -130.89104092706555,
+            38.10230354502442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -194.36830817825359,
+            -128.29296471571223,
+            38.10230354502442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -192.86830817825359,
+            -125.69488850435891,
+            38.10230354502442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -191.36830817825359,
+            -123.0968122930056,
+            38.10230354502442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -189.86830817825359,
+            -120.49873608165228,
+            38.10230354502442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -188.36830817825359,
+            -117.90065987029897,
+            38.10230354502442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -186.86830817825359,
+            -115.30258365894565,
+            38.10230354502442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -185.36830817825359,
+            -112.70450744759233,
+            38.10230354502442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -183.86830817825359,
+            -110.10643123623902,
+            38.10230354502442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -182.36830817825359,
+            -107.5083550248857,
+            38.10230354502442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -180.86830817825359,
+            -104.91027881353239,
+            38.10230354502442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -179.36830817825359,
+            -102.31220260217907,
+            38.10230354502442
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -164.0,
+            -76.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-25-42_304089172/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-25-42_304089172/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0da98728d26a912bb2ad4ab99a6260b99a66c3c5
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-25-42_304089172/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            101.49637393508338,
+            135.54622235418572,
+            26.606410287583785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            99.99637393508338,
+            132.9481461428324,
+            26.606410287583785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            98.49637393508338,
+            130.35006993147908,
+            26.606410287583785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            96.99637393508338,
+            127.75199372012577,
+            26.606410287583785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            95.49637393508338,
+            125.15391750877245,
+            26.606410287583785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            93.99637393508338,
+            122.55584129741914,
+            26.606410287583785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            92.49637393508338,
+            119.95776508606582,
+            26.606410287583785
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            92.49637393508338,
+            119.95776508606582,
+            26.606410287583785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            89.89829772373007,
+            118.45776508606582,
+            26.606410287583785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            87.30022151237675,
+            116.95776508606582,
+            26.606410287583785
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            48.0,
+            64.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-25-51_1303455736/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-25-51_1303455736/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..58f62d3af24598dc1c1b3b879f6706d5c1851987
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-25-51_1303455736/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            103.84994858481507,
+            -270.7452707139968,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            101.25187237346175,
+            -272.2452707139968,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            98.65379616210843,
+            -273.7452707139968,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            96.05571995075512,
+            -275.2452707139968,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            93.4576437394018,
+            -276.7452707139968,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            90.85956752804849,
+            -278.2452707139968,
+            40.68145640818757
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            90.85956752804849,
+            -278.2452707139968,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            89.35956752804849,
+            -280.8433469253501,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            87.85956752804849,
+            -283.4414231367034,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            86.35956752804849,
+            -286.0394993480567,
+            40.68145640818757
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            86.35956752804849,
+            -286.0394993480567,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            83.76149131669517,
+            -287.5394993480567,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            81.16341510534185,
+            -289.0394993480567,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            78.56533889398854,
+            -290.5394993480567,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            75.96726268263522,
+            -292.0394993480567,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            73.3691864712819,
+            -293.5394993480567,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            70.77111025992859,
+            -295.0394993480567,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            68.17303404857527,
+            -296.5394993480567,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            65.57495783722196,
+            -298.0394993480567,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            62.97688162586864,
+            -299.5394993480567,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            60.37880541451533,
+            -301.0394993480567,
+            40.68145640818757
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            60.37880541451533,
+            -301.0394993480567,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            57.37880541451533,
+            -301.0394993480567,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            54.37880541451533,
+            -301.0394993480567,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            51.37880541451533,
+            -301.0394993480567,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            48.37880541451533,
+            -301.0394993480567,
+            40.68145640818757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            45.37880541451533,
+            -301.0394993480567,
+            40.68145640818757
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            28.0,
+            -308.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-25-9_1365180540/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-25-9_1365180540/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..affe083aed92f2dfb93b3ccbe2c48c53ca1bec9f
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-25-9_1365180540/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            131.55572631353482,
+            -231.32626983024198,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            133.05572631353482,
+            -233.9243460415953,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            134.55572631353482,
+            -236.52242225294862,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            136.05572631353482,
+            -239.12049846430193,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            137.55572631353482,
+            -241.71857467565525,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            139.05572631353482,
+            -244.31665088700856,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            140.55572631353482,
+            -246.91472709836188,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            142.05572631353482,
+            -249.5128033097152,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            143.55572631353482,
+            -252.1108795210685,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            145.05572631353482,
+            -254.70895573242183,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            146.55572631353482,
+            -257.30703194377514,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            148.05572631353482,
+            -259.90510815512846,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            149.55572631353482,
+            -262.5031843664818,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            151.05572631353482,
+            -265.1012605778351,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            152.55572631353482,
+            -267.6993367891884,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            154.05572631353482,
+            -270.2974130005417,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            155.55572631353482,
+            -272.89548921189504,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            157.05572631353482,
+            -275.49356542324836,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            158.55572631353482,
+            -278.0916416346017,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            160.05572631353482,
+            -280.689717845955,
+            43.25295477209561
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            160.05572631353482,
+            -280.689717845955,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            162.65380252488814,
+            -282.189717845955,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            165.25187873624145,
+            -283.689717845955,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            167.84995494759477,
+            -285.189717845955,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            170.44803115894808,
+            -286.689717845955,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            173.0461073703014,
+            -288.189717845955,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            175.64418358165472,
+            -289.689717845955,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            178.24225979300803,
+            -291.189717845955,
+            43.25295477209561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            180.84033600436135,
+            -292.689717845955,
+            43.25295477209561
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            192.0,
+            -308.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-26-43_1726956429/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-26-43_1726956429/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..34f051491bf93f5ea6b48779fc9d38c00a580c97
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-26-43_1726956429/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            137.23091835987623,
+            -93.91931626092452,
+            31.814901694021437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            134.6328421485229,
+            -92.41931626092452,
+            31.814901694021437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            132.0347659371696,
+            -90.91931626092452,
+            31.814901694021437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            129.43668972581628,
+            -89.41931626092452,
+            31.814901694021437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            126.83861351446296,
+            -87.91931626092452,
+            31.814901694021437
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            126.83861351446296,
+            -87.91931626092452,
+            31.814901694021437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            123.83861351446296,
+            -87.91931626092452,
+            31.814901694021437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            120.83861351446296,
+            -87.91931626092452,
+            31.814901694021437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            117.83861351446296,
+            -87.91931626092452,
+            31.814901694021437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            114.83861351446296,
+            -87.91931626092452,
+            31.814901694021437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            111.83861351446296,
+            -87.91931626092452,
+            31.814901694021437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            108.83861351446296,
+            -87.91931626092452,
+            31.814901694021437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            105.83861351446296,
+            -87.91931626092452,
+            31.814901694021437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            102.83861351446296,
+            -87.91931626092452,
+            31.814901694021437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            99.83861351446296,
+            -87.91931626092452,
+            31.814901694021437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            96.83861351446296,
+            -87.91931626092452,
+            31.814901694021437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            93.83861351446296,
+            -87.91931626092452,
+            31.814901694021437
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            93.83861351446296,
+            -87.91931626092452,
+            31.814901694021437
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            93.83861351446296,
+            -87.91931626092452,
+            31.814901694021437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            92.33861351446296,
+            -90.51739247227783,
+            31.814901694021437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            90.83861351446296,
+            -93.11546868363115,
+            31.814901694021437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            89.33861351446296,
+            -95.71354489498447,
+            31.814901694021437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            87.83861351446296,
+            -98.31162110633778,
+            31.814901694021437
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            -104.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-27-22_278722862/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-27-22_278722862/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2b8120c0ae97a2a0c1121d038a5250d546ef2a4e
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-27-22_278722862/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            73.1490406824747,
+            -252.0362572615711,
+            34.912180707704465
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            71.6490406824747,
+            -249.4381810502178,
+            34.912180707704465
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            70.1490406824747,
+            -246.84010483886448,
+            34.912180707704465
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            68.6490406824747,
+            -244.24202862751116,
+            34.912180707704465
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            67.1490406824747,
+            -241.64395241615784,
+            34.912180707704465
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            65.6490406824747,
+            -239.04587620480453,
+            34.912180707704465
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            64.1490406824747,
+            -236.4477999934512,
+            34.912180707704465
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            62.649040682474705,
+            -233.8497237820979,
+            34.912180707704465
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            61.149040682474705,
+            -231.25164757074458,
+            34.912180707704465
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            61.149040682474705,
+            -231.25164757074458,
+            34.912180707704465
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            58.55096447112139,
+            -229.75164757074458,
+            34.912180707704465
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            55.95288825976807,
+            -228.25164757074458,
+            34.912180707704465
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            53.35481204841476,
+            -226.75164757074458,
+            34.912180707704465
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            50.75673583706144,
+            -225.25164757074458,
+            34.912180707704465
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            12.0,
+            -180.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-27-32_233665123/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-27-32_233665123/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..82d0c05770575b141616765fa8c591f042b4471c
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-27-32_233665123/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            170.61898938896962,
+            -154.32579500377307,
+            40.13697088981996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            170.61898938896962,
+            -157.32579500377307,
+            40.13697088981996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            170.61898938896962,
+            -160.32579500377307,
+            40.13697088981996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            170.61898938896962,
+            -163.32579500377307,
+            40.13697088981996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            170.61898938896962,
+            -166.32579500377307,
+            40.13697088981996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            170.61898938896962,
+            -169.32579500377307,
+            40.13697088981996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            170.61898938896962,
+            -172.32579500377307,
+            40.13697088981996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            170.61898938896962,
+            -175.32579500377307,
+            40.13697088981996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            170.61898938896962,
+            -178.32579500377307,
+            40.13697088981996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            170.61898938896962,
+            -181.32579500377307,
+            40.13697088981996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            170.61898938896962,
+            -184.32579500377307,
+            40.13697088981996
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            168.0,
+            -220.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-27-49_468703135/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-27-49_468703135/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..556bf74aeeb0fb7c2c5aef0283a7d2bd99b97a2a
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-27-49_468703135/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            190.67922428263745,
+            -281.13273358440586,
+            38.69790490299021
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            189.17922428263745,
+            -278.53465737305254,
+            38.69790490299021
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            187.67922428263745,
+            -275.9365811616992,
+            38.69790490299021
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            186.17922428263745,
+            -273.3385049503459,
+            38.69790490299021
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            184.67922428263745,
+            -270.7404287389926,
+            38.69790490299021
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            183.17922428263745,
+            -268.1423525276393,
+            38.69790490299021
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            181.67922428263745,
+            -265.54427631628596,
+            38.69790490299021
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            181.67922428263745,
+            -265.54427631628596,
+            38.69790490299021
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            181.67922428263745,
+            -262.54427631628596,
+            38.69790490299021
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            181.67922428263745,
+            -259.54427631628596,
+            38.69790490299021
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            181.67922428263745,
+            -256.54427631628596,
+            38.69790490299021
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            168.0,
+            -220.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-28-20_1801979802/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-28-20_1801979802/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ba4554eaba73f82f4c864d9cf8ffd53ef8a303c5
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-28-20_1801979802/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            127.58852246148525,
+            200.28144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            124.99044625013194,
+            198.78144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            122.39237003877862,
+            197.28144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            119.7942938274253,
+            195.78144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            117.19621761607199,
+            194.28144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            114.59814140471867,
+            192.78144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            112.00006519336536,
+            191.28144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            109.40198898201204,
+            189.78144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            106.80391277065873,
+            188.28144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            104.20583655930541,
+            186.78144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            101.6077603479521,
+            185.28144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            99.00968413659878,
+            183.78144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            96.41160792524546,
+            182.28144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            93.81353171389215,
+            180.78144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            91.21545550253883,
+            179.28144718601158,
+            28.69791934612985
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            91.21545550253883,
+            179.28144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            88.21545550253883,
+            179.28144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            85.21545550253883,
+            179.28144718601158,
+            28.69791934612985
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            85.21545550253883,
+            179.28144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            82.61737929118551,
+            177.78144718601158,
+            28.69791934612985
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            82.61737929118551,
+            177.78144718601158,
+            28.69791934612985
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            82.61737929118551,
+            177.78144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948968
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            82.61737929118551,
+            174.78144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            82.61737929118551,
+            171.78144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            82.61737929118551,
+            168.78144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            82.61737929118551,
+            165.78144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            82.61737929118551,
+            162.78144718601158,
+            28.69791934612985
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            82.61737929118551,
+            162.78144718601158,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            81.11737929118551,
+            160.18337097465826,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            79.61737929118551,
+            157.58529476330494,
+            28.69791934612985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            78.11737929118551,
+            154.98721855195163,
+            28.69791934612985
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            60.0,
+            136.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-28-46_635723058/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-28-46_635723058/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2704d47702505cba0661da1261e40f780d16a231
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-28-46_635723058/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -87.30558456698702,
+            -239.35565139839863,
+            41.71406350692084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -89.90366077834034,
+            -240.85565139839863,
+            41.71406350692084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -92.50173698969365,
+            -242.35565139839863,
+            41.71406350692084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -95.09981320104697,
+            -243.85565139839863,
+            41.71406350692084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -97.69788941240029,
+            -245.35565139839863,
+            41.71406350692084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -100.2959656237536,
+            -246.85565139839863,
+            41.71406350692084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -102.89404183510692,
+            -248.35565139839863,
+            41.71406350692084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -105.49211804646023,
+            -249.85565139839863,
+            41.71406350692084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -108.09019425781355,
+            -251.35565139839863,
+            41.71406350692084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -110.68827046916687,
+            -252.85565139839863,
+            41.71406350692084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -113.28634668052018,
+            -254.35565139839863,
+            41.71406350692084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -115.8844228918735,
+            -255.85565139839863,
+            41.71406350692084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -118.48249910322681,
+            -257.3556513983986,
+            41.71406350692084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915024
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -121.08057531458013,
+            -258.8556513983986,
+            41.71406350692084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -123.67865152593345,
+            -260.3556513983986,
+            41.71406350692084
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -123.67865152593345,
+            -260.3556513983986,
+            41.71406350692084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -125.17865152593345,
+            -262.9537276097519,
+            41.71406350692084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -126.67865152593345,
+            -265.55180382110524,
+            41.71406350692084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -128.17865152593345,
+            -268.14988003245855,
+            41.71406350692084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -129.67865152593345,
+            -270.74795624381187,
+            41.71406350692084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -131.17865152593345,
+            -273.3460324551652,
+            41.71406350692084
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -164.0,
+            -300.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-29-0_1369133069/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-29-0_1369133069/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d0f7ebfff76abd034cffc3eba913bfe7843e7880
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-29-0_1369133069/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -139.26572747502394,
+            -64.8098599753639,
+            41.35083250100608
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -137.76572747502394,
+            -67.40793618671722,
+            41.35083250100608
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -136.26572747502394,
+            -70.00601239807054,
+            41.35083250100608
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -134.76572747502394,
+            -72.60408860942385,
+            41.35083250100608
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -133.26572747502394,
+            -75.20216482077717,
+            41.35083250100608
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -131.76572747502394,
+            -77.80024103213049,
+            41.35083250100608
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -130.26572747502394,
+            -80.3983172434838,
+            41.35083250100608
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -130.26572747502394,
+            -80.3983172434838,
+            41.35083250100608
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -127.66765126367062,
+            -81.8983172434838,
+            41.35083250100608
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -125.0695750523173,
+            -83.3983172434838,
+            41.35083250100608
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -122.47149884096399,
+            -84.8983172434838,
+            41.35083250100608
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -119.87342262961067,
+            -86.3983172434838,
+            41.35083250100608
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -117.27534641825736,
+            -87.8983172434838,
+            41.35083250100608
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -114.67727020690404,
+            -89.3983172434838,
+            41.35083250100608
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -112.07919399555072,
+            -90.8983172434838,
+            41.35083250100608
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -72.0,
+            -124.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-30-10_628175011/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-30-10_628175011/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b3d4e20545991b2e8d967e4bdaa6cdca623740d7
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-30-10_628175011/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            105.66803249853555,
+            -268.53616952337217,
+            29.059533244387087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            104.16803249853555,
+            -265.93809331201885,
+            29.059533244387087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            102.66803249853555,
+            -263.34001710066553,
+            29.059533244387087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            101.16803249853555,
+            -260.7419408893122,
+            29.059533244387087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            99.66803249853555,
+            -258.1438646779589,
+            29.059533244387087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            98.16803249853555,
+            -255.5457884666056,
+            29.059533244387087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            96.66803249853555,
+            -252.94771225525227,
+            29.059533244387087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            95.16803249853555,
+            -250.34963604389895,
+            29.059533244387087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            93.66803249853555,
+            -247.75155983254564,
+            29.059533244387087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            92.16803249853555,
+            -245.15348362119232,
+            29.059533244387087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            90.66803249853555,
+            -242.555407409839,
+            29.059533244387087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            89.16803249853555,
+            -239.9573311984857,
+            29.059533244387087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            87.66803249853555,
+            -237.35925498713237,
+            29.059533244387087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            87.66803249853555,
+            -237.35925498713237,
+            29.059533244387087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            85.06995628718224,
+            -235.85925498713237,
+            29.059533244387087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            82.47188007582892,
+            -234.35925498713237,
+            29.059533244387087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            79.8738038644756,
+            -232.85925498713237,
+            29.059533244387087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            77.27572765312229,
+            -231.35925498713237,
+            29.059533244387087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            74.67765144176897,
+            -229.85925498713237,
+            29.059533244387087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            72.07957523041566,
+            -228.35925498713237,
+            29.059533244387087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            69.48149901906234,
+            -226.85925498713237,
+            29.059533244387087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            69.48149901906234,
+            -226.85925498713237,
+            29.059533244387087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            67.98149901906234,
+            -224.26117877577906,
+            29.059533244387087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            48.0,
+            -200.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-30-38_1131176229/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-30-38_1131176229/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..39dc4b064ad924008d078e46c17846db8429936e
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-30-38_1131176229/pose.jsonl
@@ -0,0 +1,54 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -103.58282248941543,
+            43.12412764597197,
+            46.26550145718164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -103.58282248941543,
+            40.12412764597197,
+            46.26550145718164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -103.58282248941543,
+            37.12412764597197,
+            46.26550145718164
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -88.0,
+            -36.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-31-11_1914544919/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-31-11_1914544919/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c7be0fbb11f33dd23ed5c96c2bcd48ca988357ca
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-31-11_1914544919/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -96.07426367820744,
+            -126.97024805034981,
+            46.62978155439558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -96.07426367820744,
+            -129.97024805034982,
+            46.62978155439558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -96.07426367820744,
+            -132.97024805034982,
+            46.62978155439558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -96.07426367820744,
+            -135.97024805034982,
+            46.62978155439558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -96.07426367820744,
+            -138.97024805034982,
+            46.62978155439558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -96.07426367820744,
+            -141.97024805034982,
+            46.62978155439558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -96.07426367820744,
+            -144.97024805034982,
+            46.62978155439558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -96.07426367820744,
+            -147.97024805034982,
+            46.62978155439558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -96.07426367820744,
+            -150.97024805034982,
+            46.62978155439558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -96.07426367820744,
+            -153.97024805034982,
+            46.62978155439558
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -96.07426367820744,
+            -153.97024805034982,
+            46.62978155439558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -97.57426367820744,
+            -156.56832426170314,
+            46.62978155439558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -99.07426367820744,
+            -159.16640047305646,
+            46.62978155439558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -100.57426367820744,
+            -161.76447668440977,
+            46.62978155439558
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -108.0,
+            -188.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-32-0_1973594324/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-32-0_1973594324/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7d0ba905e4365f715701af3ed2ac313a276ca23c
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-32-0_1973594324/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -126.90481043512561,
+            -269.6656338498517,
+            32.63252113154824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -126.90481043512561,
+            -266.6656338498517,
+            32.63252113154824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -126.90481043512561,
+            -263.6656338498517,
+            32.63252113154824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -126.90481043512561,
+            -260.6656338498517,
+            32.63252113154824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -126.90481043512561,
+            -257.6656338498517,
+            32.63252113154824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -126.90481043512561,
+            -254.6656338498517,
+            32.63252113154824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -126.90481043512561,
+            -251.6656338498517,
+            32.63252113154824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -126.90481043512561,
+            -248.6656338498517,
+            32.63252113154824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -126.90481043512561,
+            -245.6656338498517,
+            32.63252113154824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -126.90481043512561,
+            -242.6656338498517,
+            32.63252113154824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -126.90481043512561,
+            -239.6656338498517,
+            32.63252113154824
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -126.90481043512561,
+            -239.6656338498517,
+            32.63252113154824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -125.40481043512561,
+            -237.06755763849839,
+            32.63252113154824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -123.90481043512561,
+            -234.46948142714507,
+            32.63252113154824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -122.40481043512561,
+            -231.87140521579175,
+            32.63252113154824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -120.90481043512561,
+            -229.27332900443844,
+            32.63252113154824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -119.40481043512561,
+            -226.67525279308512,
+            32.63252113154824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -117.90481043512561,
+            -224.0771765817318,
+            32.63252113154824
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -108.0,
+            -188.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-32-14_149798315/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-32-14_149798315/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9fc93b39403a46f4cfc9448ce2d653d3081f9ad0
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-32-14_149798315/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            232.58088648873982,
+            -185.69619476022245,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            235.58088648873982,
+            -185.69619476022245,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            238.58088648873982,
+            -185.69619476022245,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            241.58088648873982,
+            -185.69619476022245,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            244.58088648873982,
+            -185.69619476022245,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            247.58088648873982,
+            -185.69619476022245,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            250.58088648873982,
+            -185.69619476022245,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            253.58088648873982,
+            -185.69619476022245,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            256.5808864887398,
+            -185.69619476022245,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            259.5808864887398,
+            -185.69619476022245,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            262.5808864887398,
+            -185.69619476022245,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            265.5808864887398,
+            -185.69619476022245,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            268.5808864887398,
+            -185.69619476022245,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            271.5808864887398,
+            -185.69619476022245,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            274.5808864887398,
+            -185.69619476022245,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            277.5808864887398,
+            -185.69619476022245,
+            46.544310138729664
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            277.5808864887398,
+            -185.69619476022245,
+            46.544310138729664
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            277.5808864887398,
+            -185.69619476022245,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            279.0808864887398,
+            -188.29427097157577,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            280.5808864887398,
+            -190.8923471829291,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            282.0808864887398,
+            -193.4904233942824,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            283.5808864887398,
+            -196.08849960563572,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            285.0808864887398,
+            -198.68657581698903,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            286.5808864887398,
+            -201.28465202834235,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            288.0808864887398,
+            -203.88272823969567,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            289.5808864887398,
+            -206.48080445104898,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            291.0808864887398,
+            -209.0788806624023,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            292.5808864887398,
+            -211.67695687375561,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            294.0808864887398,
+            -214.27503308510893,
+            46.544310138729664
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            294.0808864887398,
+            -214.27503308510893,
+            46.544310138729664
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            294.0808864887398,
+            -214.27503308510893,
+            46.544310138729664
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.220446049250313e-16
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            297.0808864887398,
+            -214.27503308510893,
+            46.544310138729664
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.220446049250313e-16
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            320.0,
+            -224.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-33-22_412776091/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-33-22_412776091/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..870b3c4737fa897c8df3be2fa73e66da6666851b
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-33-22_412776091/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -117.56147472842227,
+            -102.08221637768527,
+            47.291460343034295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -116.06147472842227,
+            -99.48414016633195,
+            47.291460343034295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -114.56147472842227,
+            -96.88606395497864,
+            47.291460343034295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -113.06147472842227,
+            -94.28798774362532,
+            47.291460343034295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -111.56147472842227,
+            -91.689911532272,
+            47.291460343034295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -110.06147472842227,
+            -89.09183532091869,
+            47.291460343034295
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -110.06147472842227,
+            -89.09183532091869,
+            47.291460343034295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -110.06147472842227,
+            -86.09183532091869,
+            47.291460343034295
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -88.0,
+            -36.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-33-9_184803526/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-33-9_184803526/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c40f366fdf7ffdccae6da1488064ef64d6c9da7b
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-33-9_184803526/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            20.8180618862294,
+            246.04077336686436,
+            28.57961311384986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            18.219985674876085,
+            244.54077336686436,
+            28.57961311384986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            15.621909463522769,
+            243.04077336686436,
+            28.57961311384986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            13.023833252169453,
+            241.54077336686436,
+            28.57961311384986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            10.425757040816137,
+            240.04077336686436,
+            28.57961311384986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            7.827680829462821,
+            238.54077336686436,
+            28.57961311384986
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            7.827680829462821,
+            238.54077336686436,
+            28.57961311384986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            6.327680829462822,
+            235.94269715551104,
+            28.57961311384986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            4.827680829462823,
+            233.34462094415773,
+            28.57961311384986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            3.3276808294628237,
+            230.7465447328044,
+            28.57961311384986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1.8276808294628244,
+            228.1484685214511,
+            28.57961311384986
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -44.0,
+            184.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-34-29_42999170/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-34-29_42999170/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..86c468f072dbf5cc0a6487ace8870ffc219d559b
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-34-29_42999170/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            97.69292971576141,
+            -165.54329734412283,
+            33.53183918426067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            97.69292971576141,
+            -162.54329734412283,
+            33.53183918426067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            97.69292971576141,
+            -159.54329734412283,
+            33.53183918426067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            97.69292971576141,
+            -156.54329734412283,
+            33.53183918426067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            97.69292971576141,
+            -153.54329734412283,
+            33.53183918426067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            97.69292971576141,
+            -150.54329734412283,
+            33.53183918426067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            97.69292971576141,
+            -147.54329734412283,
+            33.53183918426067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            97.69292971576141,
+            -144.54329734412283,
+            33.53183918426067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            97.69292971576141,
+            -141.54329734412283,
+            33.53183918426067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            97.69292971576141,
+            -138.54329734412283,
+            33.53183918426067
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            97.69292971576141,
+            -138.54329734412283,
+            33.53183918426067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            99.19292971576141,
+            -135.94522113276952,
+            33.53183918426067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            100.69292971576141,
+            -133.3471449214162,
+            33.53183918426067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            102.19292971576141,
+            -130.7490687100629,
+            33.53183918426067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            103.69292971576141,
+            -128.15099249870957,
+            33.53183918426067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            105.19292971576141,
+            -125.55291628735625,
+            33.53183918426067
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            108.0,
+            -104.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-35-16_2084420925/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-35-16_2084420925/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e0583795a6ca27698a96fb519ee71950511d95ec
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-35-16_2084420925/pose.jsonl
@@ -0,0 +1,54 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            170.1920897025407,
+            136.3020311976911,
+            35.21795540566129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            170.1920897025407,
+            133.3020311976911,
+            35.21795540566129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            170.1920897025407,
+            130.3020311976911,
+            35.21795540566129
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            148.0,
+            48.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-35-22_1937477084/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-35-22_1937477084/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f3fe1a6e5ec9941f8732c26a9104ba129caa6640
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-35-22_1937477084/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            3.2712281062625905,
+            296.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            3.2712281062625905,
+            293.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            3.2712281062625905,
+            290.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            3.2712281062625905,
+            287.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            3.2712281062625905,
+            284.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            3.2712281062625905,
+            281.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            3.2712281062625905,
+            278.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            3.2712281062625905,
+            275.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            3.2712281062625905,
+            272.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            3.2712281062625905,
+            269.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            3.2712281062625905,
+            266.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            3.2712281062625905,
+            263.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            3.2712281062625905,
+            260.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            3.2712281062625905,
+            257.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            3.2712281062625905,
+            254.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            3.2712281062625905,
+            251.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            3.2712281062625905,
+            248.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            3.2712281062625905,
+            245.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            3.2712281062625905,
+            242.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            3.2712281062625905,
+            239.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            3.2712281062625905,
+            236.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            3.2712281062625905,
+            233.1002136046052,
+            45.703280328175424
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            3.2712281062625905,
+            233.1002136046052,
+            45.703280328175424
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            3.2712281062625905,
+            233.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            5.8693043176159065,
+            231.6002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            8.467380528969223,
+            230.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            11.065456740322539,
+            228.6002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            13.663532951675855,
+            227.1002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            16.26160916302917,
+            225.6002136046052,
+            45.703280328175424
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            16.26160916302917,
+            225.6002136046052,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            17.76160916302917,
+            223.00213739325187,
+            45.703280328175424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            19.26160916302917,
+            220.40406118189856,
+            45.703280328175424
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            24.0,
+            200.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-35-55_572660336/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-35-55_572660336/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fb3277d56b306fb4742389a54a3338f7413a506e
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-35-55_572660336/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -245.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -242.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -239.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -236.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -233.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -230.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -227.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -224.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -221.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -218.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -215.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -212.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -209.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -206.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -203.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -200.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -197.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -194.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -191.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -188.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -185.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -182.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -179.97881349681666,
+            -141.0045464645445,
+            37.496863567471365
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -164.0,
+            -144.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-38-3_2001100545/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-38-3_2001100545/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..086681232bb9426ac1ed118f8dfb77c0eaf1d782
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-38-3_2001100545/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -255.72931999225946,
+            -132.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -252.72931999225946,
+            -132.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -249.72931999225946,
+            -132.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -246.72931999225946,
+            -132.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -243.72931999225946,
+            -132.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -240.72931999225946,
+            -132.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -237.72931999225946,
+            -132.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -234.72931999225946,
+            -132.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -231.72931999225946,
+            -132.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -228.72931999225946,
+            -132.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -225.72931999225946,
+            -132.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -222.72931999225946,
+            -132.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -219.72931999225946,
+            -132.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -216.72931999225946,
+            -132.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -213.72931999225946,
+            -132.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -210.72931999225946,
+            -132.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -207.72931999225946,
+            -132.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -204.72931999225946,
+            -132.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -201.72931999225946,
+            -132.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -198.72931999225946,
+            -132.23233960370004,
+            43.906610648461886
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -198.72931999225946,
+            -132.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -196.13124378090615,
+            -133.73233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -193.53316756955283,
+            -135.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -190.93509135819951,
+            -136.73233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -188.3370151468462,
+            -138.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -185.73893893549288,
+            -139.73233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -183.14086272413957,
+            -141.23233960370004,
+            43.906610648461886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -180.54278651278625,
+            -142.73233960370004,
+            43.906610648461886
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -164.0,
+            -144.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-39-48_1477171087/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-39-48_1477171087/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fee4c952328399ff2836d17dda28a664068d1de0
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-39-48_1477171087/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -33.54988524229729,
+            273.3912765133034,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -32.04988524229729,
+            270.7932003019501,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -30.549885242297293,
+            268.1951240905968,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -29.049885242297293,
+            265.59704787924346,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -27.549885242297293,
+            262.99897166789015,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -26.049885242297293,
+            260.40089545653683,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -24.549885242297293,
+            257.8028192451835,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -23.049885242297293,
+            255.2047430338302,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -21.549885242297293,
+            252.60666682247688,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -20.049885242297293,
+            250.00859061112357,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -18.549885242297293,
+            247.41051439977025,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -17.049885242297293,
+            244.81243818841693,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -15.549885242297293,
+            242.21436197706362,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -14.049885242297293,
+            239.6162857657103,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -12.549885242297293,
+            237.01820955435699,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -11.049885242297293,
+            234.42013334300367,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -9.549885242297293,
+            231.82205713165035,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -8.049885242297293,
+            229.22398092029704,
+            27.603819708708908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -8.049885242297293,
+            229.22398092029704,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -5.451809030943977,
+            227.72398092029704,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -2.853732819590661,
+            226.22398092029704,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -0.25565660823734504,
+            224.72398092029704,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            2.342419603115971,
+            223.22398092029704,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            4.940495814469287,
+            221.72398092029704,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            7.538572025822603,
+            220.22398092029704,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            10.136648237175919,
+            218.72398092029704,
+            27.603819708708908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            10.136648237175919,
+            218.72398092029704,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            11.636648237175919,
+            216.12590470894372,
+            27.603819708708908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            13.136648237175919,
+            213.5278284975904,
+            27.603819708708908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            24.0,
+            200.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-40-34_1780695788/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-40-34_1780695788/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..36bdf9070fe38219dc7f6a3f1b4a42f40cb77fee
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-40-34_1780695788/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -259.866416735086,
+            -145.90633557170543,
+            37.66120780958644
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -261.366416735086,
+            -148.50441178305874,
+            37.66120780958644
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -262.866416735086,
+            -151.10248799441206,
+            37.66120780958644
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -264.366416735086,
+            -153.70056420576537,
+            37.66120780958644
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -265.866416735086,
+            -156.2986404171187,
+            37.66120780958644
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -267.366416735086,
+            -158.896716628472,
+            37.66120780958644
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -268.866416735086,
+            -161.49479283982532,
+            37.66120780958644
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -270.366416735086,
+            -164.09286905117864,
+            37.66120780958644
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -271.866416735086,
+            -166.69094526253195,
+            37.66120780958644
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -273.366416735086,
+            -169.28902147388527,
+            37.66120780958644
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -274.866416735086,
+            -171.8870976852386,
+            37.66120780958644
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -276.366416735086,
+            -174.4851738965919,
+            37.66120780958644
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -277.866416735086,
+            -177.08325010794522,
+            37.66120780958644
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -279.366416735086,
+            -179.68132631929853,
+            37.66120780958644
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -279.366416735086,
+            -179.68132631929853,
+            37.66120780958644
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -281.9644929464393,
+            -181.18132631929853,
+            37.66120780958644
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -300.0,
+            -208.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-40-6_356426808/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-40-6_356426808/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4fde3e817e2e96e1982289257cc4721ed1f8531a
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-40-6_356426808/pose.jsonl
@@ -0,0 +1,80 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -84.17285694199897,
+            -290.17254997522474,
+            40.02609643158519
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -82.67285694199897,
+            -292.77062618657806,
+            40.02609643158519
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -81.17285694199897,
+            -295.3687023979314,
+            40.02609643158519
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -79.67285694199897,
+            -297.9667786092847,
+            40.02609643158519
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -78.17285694199897,
+            -300.564854820638,
+            40.02609643158519
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -36.0,
+            -352.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-41-18_752392754/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-41-18_752392754/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3860f8aa74fb313639731c4a00a085c2b6bec591
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-41-18_752392754/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -124.59938345534172,
+            -165.98466668292042,
+            23.648960744628454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -123.09938345534172,
+            -163.3865904715671,
+            23.648960744628454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -121.59938345534172,
+            -160.7885142602138,
+            23.648960744628454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -120.09938345534172,
+            -158.19043804886047,
+            23.648960744628454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -118.59938345534172,
+            -155.59236183750716,
+            23.648960744628454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -117.09938345534172,
+            -152.99428562615384,
+            23.648960744628454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -115.59938345534172,
+            -150.39620941480052,
+            23.648960744628454
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -115.59938345534172,
+            -150.39620941480052,
+            23.648960744628454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -113.0013072439884,
+            -148.89620941480052,
+            23.648960744628454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -110.40323103263509,
+            -147.39620941480052,
+            23.648960744628454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -107.80515482128177,
+            -145.89620941480052,
+            23.648960744628454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -105.20707860992846,
+            -144.39620941480052,
+            23.648960744628454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -102.60900239857514,
+            -142.89620941480052,
+            23.648960744628454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -100.01092618722183,
+            -141.39620941480052,
+            23.648960744628454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -97.41284997586851,
+            -139.89620941480052,
+            23.648960744628454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -94.8147737645152,
+            -138.39620941480052,
+            23.648960744628454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -92.21669755316188,
+            -136.89620941480052,
+            23.648960744628454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -89.61862134180856,
+            -135.39620941480052,
+            23.648960744628454
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -72.0,
+            -124.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-42-37_943947739/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-42-37_943947739/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5336beb25e3ac2f63153f3f8e5973e0dbdc84a0a
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-42-37_943947739/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            250.9195247533628,
+            62.37626426323035,
+            45.29435855357783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196599
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            252.4195247533628,
+            64.97434047458367,
+            45.29435855357783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196599
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            253.9195247533628,
+            67.57241668593699,
+            45.29435855357783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            255.4195247533628,
+            70.1704928972903,
+            45.29435855357783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            256.9195247533628,
+            72.76856910864362,
+            45.29435855357783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            258.4195247533628,
+            75.36664531999693,
+            45.29435855357783
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            258.4195247533628,
+            75.36664531999693,
+            45.29435855357783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            261.0176009647161,
+            76.86664531999693,
+            45.29435855357783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            263.6156771760694,
+            78.36664531999693,
+            45.29435855357783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            266.21375338742274,
+            79.86664531999693,
+            45.29435855357783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            268.81182959877606,
+            81.36664531999693,
+            45.29435855357783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            271.4099058101294,
+            82.86664531999693,
+            45.29435855357783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            274.0079820214827,
+            84.36664531999693,
+            45.29435855357783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            276.606058232836,
+            85.86664531999693,
+            45.29435855357783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            279.2041344441893,
+            87.36664531999693,
+            45.29435855357783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            281.80221065554264,
+            88.86664531999693,
+            45.29435855357783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            284.40028686689595,
+            90.36664531999693,
+            45.29435855357783
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            284.40028686689595,
+            90.36664531999693,
+            45.29435855357783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            285.90028686689595,
+            92.96472153135025,
+            45.29435855357783
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            312.0,
+            116.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-43-38_1956297539/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-43-38_1956297539/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8202a8aafb6c8c6fdb9a19d41ead7d9c5cafe3ca
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-43-38_1956297539/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            100.10427886503354,
+            -232.33076778002834,
+            23.845556295596325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            100.10427886503354,
+            -235.33076778002834,
+            23.845556295596325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            100.10427886503354,
+            -238.33076778002834,
+            23.845556295596325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            100.10427886503354,
+            -241.33076778002834,
+            23.845556295596325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            100.10427886503354,
+            -244.33076778002834,
+            23.845556295596325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            100.10427886503354,
+            -247.33076778002834,
+            23.845556295596325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            100.10427886503354,
+            -250.33076778002834,
+            23.845556295596325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            100.10427886503354,
+            -253.33076778002834,
+            23.845556295596325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            100.10427886503354,
+            -256.33076778002834,
+            23.845556295596325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            100.10427886503354,
+            -259.33076778002834,
+            23.845556295596325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            100.10427886503354,
+            -262.33076778002834,
+            23.845556295596325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            100.10427886503354,
+            -265.33076778002834,
+            23.845556295596325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            100.10427886503354,
+            -268.33076778002834,
+            23.845556295596325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            100.10427886503354,
+            -271.33076778002834,
+            23.845556295596325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            100.10427886503354,
+            -274.33076778002834,
+            23.845556295596325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            100.10427886503354,
+            -277.33076778002834,
+            23.845556295596325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            100.10427886503354,
+            -280.33076778002834,
+            23.845556295596325
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            100.10427886503354,
+            -280.33076778002834,
+            23.845556295596325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            101.60427886503354,
+            -282.92884399138165,
+            23.845556295596325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            103.10427886503354,
+            -285.52692020273497,
+            23.845556295596325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            104.60427886503354,
+            -288.1249964140883,
+            23.845556295596325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            106.10427886503354,
+            -290.7230726254416,
+            23.845556295596325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            107.60427886503354,
+            -293.3211488367949,
+            23.845556295596325
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            108.0,
+            -308.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-45-27_927612902/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-45-27_927612902/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3bfef522f884a55be52df371397cb8fd31ce3ac9
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-45-27_927612902/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            55.123597900667484,
+            -174.6373656717206,
+            29.332556045650705
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            53.623597900667484,
+            -172.03928946036729,
+            29.332556045650705
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            52.123597900667484,
+            -169.44121324901397,
+            29.332556045650705
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            52.123597900667484,
+            -169.44121324901397,
+            29.332556045650705
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            52.123597900667484,
+            -166.44121324901397,
+            29.332556045650705
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            52.123597900667484,
+            -163.44121324901397,
+            29.332556045650705
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            52.123597900667484,
+            -160.44121324901397,
+            29.332556045650705
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            52.123597900667484,
+            -157.44121324901397,
+            29.332556045650705
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            52.123597900667484,
+            -154.44121324901397,
+            29.332556045650705
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            52.123597900667484,
+            -151.44121324901397,
+            29.332556045650705
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            52.123597900667484,
+            -148.44121324901397,
+            29.332556045650705
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            52.123597900667484,
+            -145.44121324901397,
+            29.332556045650705
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            52.123597900667484,
+            -142.44121324901397,
+            29.332556045650705
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            52.123597900667484,
+            -142.44121324901397,
+            29.332556045650705
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            53.623597900667484,
+            -139.84313703766065,
+            29.332556045650705
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            55.123597900667484,
+            -137.24506082630734,
+            29.332556045650705
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            56.623597900667484,
+            -134.64698461495402,
+            29.332556045650705
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            58.123597900667484,
+            -132.0489084036007,
+            29.332556045650705
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            59.623597900667484,
+            -129.4508321922474,
+            29.332556045650705
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            61.123597900667484,
+            -126.85275598089407,
+            29.332556045650705
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            62.623597900667484,
+            -124.25467976954076,
+            29.332556045650705
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            64.12359790066749,
+            -121.65660355818744,
+            29.332556045650705
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            -104.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-45-3_1892066601/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-45-3_1892066601/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3993878e8b214041a81e8d0646e15a5726e33ac6
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-45-3_1892066601/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -61.21280491059511,
+            -286.9313859220885,
+            32.80768546192985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -59.71280491059511,
+            -284.3333097107352,
+            32.80768546192985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -58.21280491059511,
+            -281.7352334993819,
+            32.80768546192985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -56.71280491059511,
+            -279.13715728802856,
+            32.80768546192985
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -56.71280491059511,
+            -279.13715728802856,
+            32.80768546192985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -54.114728699241795,
+            -277.63715728802856,
+            32.80768546192985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -51.51665248788848,
+            -276.13715728802856,
+            32.80768546192985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -48.91857627653516,
+            -274.63715728802856,
+            32.80768546192985
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -16.0,
+            -236.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-47-11_593209441/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-47-11_593209441/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..140058f053b8ebe0955b14576d56fb4892bb9d11
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-47-11_593209441/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -93.75034091060616,
+            -256.91559974495146,
+            41.70249524410543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -96.34841712195947,
+            -255.41559974495146,
+            41.70249524410543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -98.94649333331279,
+            -253.91559974495146,
+            41.70249524410543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -101.5445695446661,
+            -252.41559974495146,
+            41.70249524410543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -104.14264575601942,
+            -250.91559974495146,
+            41.70249524410543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -106.74072196737274,
+            -249.41559974495146,
+            41.70249524410543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -109.33879817872605,
+            -247.91559974495146,
+            41.70249524410543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -111.93687439007937,
+            -246.41559974495146,
+            41.70249524410543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -114.53495060143268,
+            -244.91559974495146,
+            41.70249524410543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -117.133026812786,
+            -243.41559974495146,
+            41.70249524410543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -119.73110302413932,
+            -241.91559974495146,
+            41.70249524410543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -122.32917923549263,
+            -240.41559974495146,
+            41.70249524410543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -124.92725544684595,
+            -238.91559974495146,
+            41.70249524410543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -127.52533165819926,
+            -237.41559974495146,
+            41.70249524410543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -130.12340786955258,
+            -235.91559974495146,
+            41.70249524410543
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -130.12340786955258,
+            -235.91559974495146,
+            41.70249524410543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -131.62340786955258,
+            -233.31752353359815,
+            41.70249524410543
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -133.12340786955258,
+            -230.71944732224483,
+            41.70249524410543
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -164.0,
+            -208.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-48-35_1633108117/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-48-35_1633108117/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5650d19ed737f1cdc72754de2ef03a7bf1cbeec0
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-48-35_1633108117/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            100.38084746220476,
+            -176.75554015835357,
+            27.838175997389534
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            98.88084746220476,
+            -174.15746394700025,
+            27.838175997389534
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            97.38084746220476,
+            -171.55938773564694,
+            27.838175997389534
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            95.88084746220476,
+            -168.96131152429362,
+            27.838175997389534
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            94.38084746220476,
+            -166.3632353129403,
+            27.838175997389534
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            92.88084746220476,
+            -163.765159101587,
+            27.838175997389534
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            91.38084746220476,
+            -161.16708289023367,
+            27.838175997389534
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            89.88084746220476,
+            -158.56900667888036,
+            27.838175997389534
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            88.38084746220476,
+            -155.97093046752704,
+            27.838175997389534
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            86.88084746220476,
+            -153.37285425617372,
+            27.838175997389534
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            86.88084746220476,
+            -153.37285425617372,
+            27.838175997389534
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            86.88084746220476,
+            -150.37285425617372,
+            27.838175997389534
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            86.88084746220476,
+            -147.37285425617372,
+            27.838175997389534
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            86.88084746220476,
+            -144.37285425617372,
+            27.838175997389534
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            86.88084746220476,
+            -141.37285425617372,
+            27.838175997389534
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            86.88084746220476,
+            -138.37285425617372,
+            27.838175997389534
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            86.88084746220476,
+            -138.37285425617372,
+            27.838175997389534
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            85.38084746220476,
+            -135.7747780448204,
+            27.838175997389534
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            83.88084746220476,
+            -133.1767018334671,
+            27.838175997389534
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            82.38084746220476,
+            -130.57862562211378,
+            27.838175997389534
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            80.88084746220476,
+            -127.98054941076046,
+            27.838175997389534
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            79.38084746220476,
+            -125.38247319940714,
+            27.838175997389534
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            77.88084746220476,
+            -122.78439698805383,
+            27.838175997389534
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            -104.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-48-9_221558440/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-48-9_221558440/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..341de1d6a15691be0657ad88c01f15e83b0c0f29
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-48-9_221558440/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            200.36657756636936,
+            201.7930984230842,
+            20.260859957457516
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            200.36657756636936,
+            198.7930984230842,
+            20.260859957457516
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            200.36657756636936,
+            195.7930984230842,
+            20.260859957457516
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            200.36657756636936,
+            192.7930984230842,
+            20.260859957457516
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            200.36657756636936,
+            189.7930984230842,
+            20.260859957457516
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            200.36657756636936,
+            186.7930984230842,
+            20.260859957457516
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            200.36657756636936,
+            186.7930984230842,
+            20.260859957457516
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            201.86657756636936,
+            184.19502221173087,
+            20.260859957457516
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            212.0,
+            120.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-49-52_791698927/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-49-52_791698927/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..39774285bf7a63cca4557fbb3efe2d882613e842
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-49-52_791698927/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            121.50202361334169,
+            148.0553165316411,
+            37.72630322385886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            118.90394740198838,
+            146.5553165316411,
+            37.72630322385886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            116.30587119063506,
+            145.0553165316411,
+            37.72630322385886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            113.70779497928174,
+            143.5553165316411,
+            37.72630322385886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            111.10971876792843,
+            142.0553165316411,
+            37.72630322385886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            108.51164255657511,
+            140.5553165316411,
+            37.72630322385886
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            108.51164255657511,
+            140.5553165316411,
+            37.72630322385886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            105.51164255657511,
+            140.5553165316411,
+            37.72630322385886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            102.51164255657511,
+            140.5553165316411,
+            37.72630322385886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            99.51164255657511,
+            140.5553165316411,
+            37.72630322385886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            96.51164255657511,
+            140.5553165316411,
+            37.72630322385886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            93.51164255657511,
+            140.5553165316411,
+            37.72630322385886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            90.51164255657511,
+            140.5553165316411,
+            37.72630322385886
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            60.0,
+            136.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-50-50_524872353/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-50-50_524872353/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..343acc6a23d3ad055cc10b04d473d209db513831
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-50-50_524872353/pose.jsonl
@@ -0,0 +1,93 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            284.9559753037355,
+            -190.3141516994507,
+            41.50796840506231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            283.4559753037355,
+            -187.71607548809737,
+            41.50796840506231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            281.9559753037355,
+            -185.11799927674406,
+            41.50796840506231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            280.4559753037355,
+            -182.51992306539074,
+            41.50796840506231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            278.9559753037355,
+            -179.92184685403743,
+            41.50796840506231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            277.4559753037355,
+            -177.3237706426841,
+            41.50796840506231
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            236.0,
+            -120.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-52-55_1600028624/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-52-55_1600028624/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d3db0871555cf71a70e0d76d50ddf32022b3b0e7
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-52-55_1600028624/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -264.1547132972293,
+            -256.74040338426397,
+            34.90075218904235
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -262.6547132972293,
+            -254.14232717291065,
+            34.90075218904235
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -261.1547132972293,
+            -251.54425096155734,
+            34.90075218904235
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -259.6547132972293,
+            -248.94617475020402,
+            34.90075218904235
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -258.1547132972293,
+            -246.3480985388507,
+            34.90075218904235
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -256.6547132972293,
+            -243.7500223274974,
+            34.90075218904235
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -255.1547132972293,
+            -241.15194611614407,
+            34.90075218904235
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -253.6547132972293,
+            -238.55386990479076,
+            34.90075218904235
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -228.0,
+            -208.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-53-29_112805732/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-53-29_112805732/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..376dde15524d817655e63d77e133b1f53b2dd69b
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-53-29_112805732/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            66.3545914480936,
+            240.0836450809578,
+            29.381279650328416
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            64.8545914480936,
+            237.4855688696045,
+            29.381279650328416
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            63.3545914480936,
+            234.88749265825118,
+            29.381279650328416
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            61.8545914480936,
+            232.28941644689786,
+            29.381279650328416
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            60.3545914480936,
+            229.69134023554454,
+            29.381279650328416
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            58.8545914480936,
+            227.09326402419123,
+            29.381279650328416
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            57.3545914480936,
+            224.4951878128379,
+            29.381279650328416
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            55.8545914480936,
+            221.8971116014846,
+            29.381279650328416
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            54.3545914480936,
+            219.29903539013128,
+            29.381279650328416
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            52.8545914480936,
+            216.70095917877796,
+            29.381279650328416
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            51.3545914480936,
+            214.10288296742465,
+            29.381279650328416
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            49.8545914480936,
+            211.50480675607133,
+            29.381279650328416
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            48.3545914480936,
+            208.90673054471802,
+            29.381279650328416
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            46.8545914480936,
+            206.3086543333647,
+            29.381279650328416
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            45.3545914480936,
+            203.71057812201138,
+            29.381279650328416
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            45.3545914480936,
+            203.71057812201138,
+            29.381279650328416
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            45.3545914480936,
+            200.71057812201138,
+            29.381279650328416
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            45.3545914480936,
+            197.71057812201138,
+            29.381279650328416
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            28.0,
+            164.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-53-59_378409503/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-53-59_378409503/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ad0160a5ecad3f029d77e983f4243369856534b6
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-53-59_378409503/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            279.5675169057762,
+            192.12191999316173,
+            44.591415700195384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            281.0675169057762,
+            189.5238437818084,
+            44.591415700195384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            282.5675169057762,
+            186.9257675704551,
+            44.591415700195384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            284.0675169057762,
+            184.32769135910178,
+            44.591415700195384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            285.5675169057762,
+            181.72961514774846,
+            44.591415700195384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            287.0675169057762,
+            179.13153893639515,
+            44.591415700195384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            288.5675169057762,
+            176.53346272504183,
+            44.591415700195384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            290.0675169057762,
+            173.9353865136885,
+            44.591415700195384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            291.5675169057762,
+            171.3373103023352,
+            44.591415700195384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            293.0675169057762,
+            168.73923409098188,
+            44.591415700195384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            294.5675169057762,
+            166.14115787962857,
+            44.591415700195384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            296.0675169057762,
+            163.54308166827525,
+            44.591415700195384
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            296.0675169057762,
+            163.54308166827525,
+            44.591415700195384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            296.0675169057762,
+            160.54308166827525,
+            44.591415700195384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            296.0675169057762,
+            157.54308166827525,
+            44.591415700195384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            296.0675169057762,
+            154.54308166827525,
+            44.591415700195384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            296.0675169057762,
+            151.54308166827525,
+            44.591415700195384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            296.0675169057762,
+            148.54308166827525,
+            44.591415700195384
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            312.0,
+            116.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-55-42_1631518149/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-55-42_1631518149/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6819e74afdd9af1b3b22687c76a976b671631d5c
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-55-42_1631518149/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -235.71196540948827,
+            -152.14113952541345,
+            41.104202008558055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -232.71196540948827,
+            -152.14113952541345,
+            41.104202008558055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -229.71196540948827,
+            -152.14113952541345,
+            41.104202008558055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -226.71196540948827,
+            -152.14113952541345,
+            41.104202008558055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -223.71196540948827,
+            -152.14113952541345,
+            41.104202008558055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -220.71196540948827,
+            -152.14113952541345,
+            41.104202008558055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -217.71196540948827,
+            -152.14113952541345,
+            41.104202008558055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -214.71196540948827,
+            -152.14113952541345,
+            41.104202008558055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -211.71196540948827,
+            -152.14113952541345,
+            41.104202008558055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -208.71196540948827,
+            -152.14113952541345,
+            41.104202008558055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -205.71196540948827,
+            -152.14113952541345,
+            41.104202008558055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -202.71196540948827,
+            -152.14113952541345,
+            41.104202008558055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -199.71196540948827,
+            -152.14113952541345,
+            41.104202008558055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -196.71196540948827,
+            -152.14113952541345,
+            41.104202008558055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -193.71196540948827,
+            -152.14113952541345,
+            41.104202008558055
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -193.71196540948827,
+            -152.14113952541345,
+            41.104202008558055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -191.11388919813496,
+            -150.64113952541345,
+            41.104202008558055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -188.51581298678164,
+            -149.14113952541345,
+            41.104202008558055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -185.91773677542832,
+            -147.64113952541345,
+            41.104202008558055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -183.319660564075,
+            -146.14113952541345,
+            41.104202008558055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -180.7215843527217,
+            -144.64113952541345,
+            41.104202008558055
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -164.0,
+            -144.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-56-19_289700723/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-56-19_289700723/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7e6c88f5a6c4c81169121396db0cce699f6c13db
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-56-19_289700723/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -36.81349929379532,
+            261.6265009527525,
+            22.076000099835824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -35.31349929379532,
+            259.0284247413992,
+            22.076000099835824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -33.81349929379532,
+            256.4303485300459,
+            22.076000099835824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -32.31349929379532,
+            253.83227231869256,
+            22.076000099835824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -30.813499293795317,
+            251.23419610733924,
+            22.076000099835824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -29.313499293795317,
+            248.63611989598593,
+            22.076000099835824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -27.813499293795317,
+            246.0380436846326,
+            22.076000099835824
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -27.813499293795317,
+            246.0380436846326,
+            22.076000099835824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -25.215423082442,
+            244.5380436846326,
+            22.076000099835824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -22.617346871088685,
+            243.0380436846326,
+            22.076000099835824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -20.01927065973537,
+            241.5380436846326,
+            22.076000099835824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -17.421194448382053,
+            240.0380436846326,
+            22.076000099835824
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            24.0,
+            200.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-57-35_439493451/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-57-35_439493451/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f63b6d7aba6d68ad171660eb61de6fd01dd4b469
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-57-35_439493451/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -127.99981004446494,
+            -172.90024756854174,
+            42.68666967029155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -124.99981004446494,
+            -172.90024756854174,
+            42.68666967029155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -121.99981004446494,
+            -172.90024756854174,
+            42.68666967029155
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -121.99981004446494,
+            -172.90024756854174,
+            42.68666967029155
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -121.99981004446494,
+            -172.90024756854174,
+            42.68666967029155
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -121.99981004446494,
+            -172.90024756854174,
+            42.68666967029155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -121.99981004446494,
+            -169.90024756854174,
+            42.68666967029155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -121.99981004446494,
+            -166.90024756854174,
+            42.68666967029155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -121.99981004446494,
+            -163.90024756854174,
+            42.68666967029155
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -121.99981004446494,
+            -163.90024756854174,
+            42.68666967029155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -120.49981004446494,
+            -161.30217135718843,
+            42.68666967029155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -118.99981004446494,
+            -158.7040951458351,
+            42.68666967029155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -117.49981004446494,
+            -156.1060189344818,
+            42.68666967029155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -115.99981004446494,
+            -153.50794272312848,
+            42.68666967029155
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -115.99981004446494,
+            -153.50794272312848,
+            42.68666967029155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -113.40173383311162,
+            -152.00794272312848,
+            42.68666967029155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -110.8036576217583,
+            -150.50794272312848,
+            42.68666967029155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -108.20558141040499,
+            -149.00794272312848,
+            42.68666967029155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -105.60750519905167,
+            -147.50794272312848,
+            42.68666967029155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -103.00942898769836,
+            -146.00794272312848,
+            42.68666967029155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -100.41135277634504,
+            -144.50794272312848,
+            42.68666967029155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -97.81327656499172,
+            -143.00794272312848,
+            42.68666967029155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -95.21520035363841,
+            -141.50794272312848,
+            42.68666967029155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -92.61712414228509,
+            -140.00794272312848,
+            42.68666967029155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -90.01904793093178,
+            -138.50794272312848,
+            42.68666967029155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -87.42097171957846,
+            -137.00794272312848,
+            42.68666967029155
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -72.0,
+            -124.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-59-11_338888228/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-59-11_338888228/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..94dad02e9624b0d006b8001653964ebc40dbb2d8
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-59-11_338888228/pose.jsonl
@@ -0,0 +1,93 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            120.68244697870657,
+            -41.309533701022374,
+            44.03382600555402
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            122.18244697870657,
+            -38.71145748966906,
+            44.03382600555402
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            123.68244697870657,
+            -36.11338127831574,
+            44.03382600555402
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            125.18244697870657,
+            -33.515305066962426,
+            44.03382600555402
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            125.18244697870657,
+            -33.515305066962426,
+            44.03382600555402
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            125.18244697870657,
+            -30.515305066962426,
+            44.03382600555402
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            148.0,
+            48.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-59-32_438792350/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-59-32_438792350/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d24e33381303f5a593748dd55712de1f756d1484
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-59-32_438792350/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -97.46503453656625,
+            -137.47415087695154,
+            49.57047069577929
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -100.06311074791957,
+            -135.97415087695154,
+            49.57047069577929
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -102.66118695927288,
+            -134.47415087695154,
+            49.57047069577929
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -105.2592631706262,
+            -132.97415087695154,
+            49.57047069577929
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -107.85733938197951,
+            -131.47415087695154,
+            49.57047069577929
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -110.45541559333283,
+            -129.97415087695154,
+            49.57047069577929
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -113.05349180468615,
+            -128.47415087695154,
+            49.57047069577929
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -115.65156801603946,
+            -126.97415087695154,
+            49.57047069577929
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -115.65156801603946,
+            -126.97415087695154,
+            49.57047069577929
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -117.15156801603946,
+            -124.37607466559822,
+            49.57047069577929
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -118.65156801603946,
+            -121.77799845424491,
+            49.57047069577929
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -120.15156801603946,
+            -119.17992224289159,
+            49.57047069577929
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -121.65156801603946,
+            -116.58184603153828,
+            49.57047069577929
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -123.15156801603946,
+            -113.98376982018496,
+            49.57047069577929
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -124.65156801603946,
+            -111.38569360883164,
+            49.57047069577929
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -126.15156801603946,
+            -108.78761739747833,
+            49.57047069577929
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -127.65156801603946,
+            -106.18954118612501,
+            49.57047069577929
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -129.15156801603945,
+            -103.5914649747717,
+            49.57047069577929
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931913
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -129.15156801603945,
+            -103.5914649747717,
+            49.57047069577929
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.61799387799149
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -131.74964422739276,
+            -102.0914649747717,
+            49.57047069577929
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -134.34772043874608,
+            -100.5914649747717,
+            49.57047069577929
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -164.0,
+            -76.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-59-45_1911165193/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-59-45_1911165193/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c988baa1618520e7d6fbc287bfcf6bb4ba3531d2
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-59-45_1911165193/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -37.915618853750054,
+            237.01379220994104,
+            32.105210197798094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -34.915618853750054,
+            237.01379220994104,
+            32.105210197798094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -31.915618853750054,
+            237.01379220994104,
+            32.105210197798094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -28.915618853750054,
+            237.01379220994104,
+            32.105210197798094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -25.915618853750054,
+            237.01379220994104,
+            32.105210197798094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -22.915618853750054,
+            237.01379220994104,
+            32.105210197798094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -19.915618853750054,
+            237.01379220994104,
+            32.105210197798094
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -19.915618853750054,
+            237.01379220994104,
+            32.105210197798094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -17.317542642396738,
+            235.51379220994104,
+            32.105210197798094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -14.719466431043422,
+            234.01379220994104,
+            32.105210197798094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -12.121390219690106,
+            232.51379220994104,
+            32.105210197798094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -9.52331400833679,
+            231.01379220994104,
+            32.105210197798094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -6.925237796983474,
+            229.51379220994104,
+            32.105210197798094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -4.327161585630158,
+            228.01379220994104,
+            32.105210197798094
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -4.327161585630158,
+            228.01379220994104,
+            32.105210197798094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -2.8271615856301575,
+            225.41571599858773,
+            32.105210197798094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1.327161585630157,
+            222.8176397872344,
+            32.105210197798094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            0.17283841436984337,
+            220.2195635758811,
+            32.105210197798094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1.6728384143698438,
+            217.62148736452778,
+            32.105210197798094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            3.1728384143698443,
+            215.02341115317446,
+            32.105210197798094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            4.672838414369845,
+            212.42533494182115,
+            32.105210197798094
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            24.0,
+            200.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-9-56_846930886/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-9-56_846930886/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..244508e6ca282e80b86cb7c88300a2ea75deb55e
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_16-9-56_846930886/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            284.14227885220487,
+            -282.4423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            281.54420264085155,
+            -283.9423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            278.94612642949824,
+            -285.4423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            276.3480502181449,
+            -286.9423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            273.7499740067916,
+            -288.4423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            271.1518977954383,
+            -289.9423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            268.55382158408497,
+            -291.4423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            265.95574537273166,
+            -292.9423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            263.35766916137834,
+            -294.4423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            260.759592950025,
+            -295.9423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            258.1615167386717,
+            -297.4423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            255.5634405273184,
+            -298.9423747222993,
+            20.80105341531019
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            255.5634405273184,
+            -298.9423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            252.5634405273184,
+            -298.9423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            249.5634405273184,
+            -298.9423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            246.5634405273184,
+            -298.9423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            243.5634405273184,
+            -298.9423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            240.5634405273184,
+            -298.9423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            237.5634405273184,
+            -298.9423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            234.5634405273184,
+            -298.9423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            231.5634405273184,
+            -298.9423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            228.5634405273184,
+            -298.9423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            225.5634405273184,
+            -298.9423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            222.5634405273184,
+            -298.9423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            219.5634405273184,
+            -298.9423747222993,
+            20.80105341531019
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            216.5634405273184,
+            -298.9423747222993,
+            20.80105341531019
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            192.0,
+            -308.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-0-20_2142757034/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-0-20_2142757034/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d2144dad340deef82140128059c9929295b02541
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-0-20_2142757034/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            208.73061508714943,
+            61.299261484133964,
+            24.07753954183977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            206.13253887579612,
+            62.799261484133964,
+            24.07753954183977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            203.5344626644428,
+            64.29926148413396,
+            24.07753954183977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            200.93638645308948,
+            65.79926148413396,
+            24.07753954183977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            198.33831024173617,
+            67.29926148413396,
+            24.07753954183977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            195.74023403038285,
+            68.79926148413396,
+            24.07753954183977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            193.14215781902953,
+            70.29926148413396,
+            24.07753954183977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            190.54408160767622,
+            71.79926148413396,
+            24.07753954183977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            187.9460053963229,
+            73.29926148413396,
+            24.07753954183977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            185.3479291849696,
+            74.79926148413396,
+            24.07753954183977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            182.74985297361627,
+            76.29926148413396,
+            24.07753954183977
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            182.74985297361627,
+            76.29926148413396,
+            24.07753954183977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            181.24985297361627,
+            78.89733769548728,
+            24.07753954183977
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            148.0,
+            104.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-1-20_8936987/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-1-20_8936987/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4944b0a177e1466805db50204c79320326e63f60
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-1-20_8936987/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -231.63753120332535,
+            -157.0836001146721,
+            24.044537635937928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -228.63753120332535,
+            -157.0836001146721,
+            24.044537635937928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -225.63753120332535,
+            -157.0836001146721,
+            24.044537635937928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -222.63753120332535,
+            -157.0836001146721,
+            24.044537635937928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -219.63753120332535,
+            -157.0836001146721,
+            24.044537635937928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -216.63753120332535,
+            -157.0836001146721,
+            24.044537635937928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -213.63753120332535,
+            -157.0836001146721,
+            24.044537635937928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -210.63753120332535,
+            -157.0836001146721,
+            24.044537635937928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -207.63753120332535,
+            -157.0836001146721,
+            24.044537635937928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -204.63753120332535,
+            -157.0836001146721,
+            24.044537635937928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -201.63753120332535,
+            -157.0836001146721,
+            24.044537635937928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -198.63753120332535,
+            -157.0836001146721,
+            24.044537635937928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -195.63753120332535,
+            -157.0836001146721,
+            24.044537635937928
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -195.63753120332535,
+            -157.0836001146721,
+            24.044537635937928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -193.03945499197204,
+            -155.5836001146721,
+            24.044537635937928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -190.44137878061872,
+            -154.0836001146721,
+            24.044537635937928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -187.8433025692654,
+            -152.5836001146721,
+            24.044537635937928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -185.2452263579121,
+            -151.0836001146721,
+            24.044537635937928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -182.64715014655877,
+            -149.5836001146721,
+            24.044537635937928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -180.04907393520546,
+            -148.0836001146721,
+            24.044537635937928
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -164.0,
+            -144.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-11-52_680466996/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-11-52_680466996/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4f9d4aa20098de4022782f6c6699c800749e35f1
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-11-52_680466996/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            199.8614848532901,
+            -285.85184271282253,
+            37.492037231034516
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            201.3614848532901,
+            -283.2537665014692,
+            37.492037231034516
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            202.8614848532901,
+            -280.6556902901159,
+            37.492037231034516
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            204.3614848532901,
+            -278.0576140787626,
+            37.492037231034516
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            205.8614848532901,
+            -275.45953786740927,
+            37.492037231034516
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            207.3614848532901,
+            -272.86146165605595,
+            37.492037231034516
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            208.8614848532901,
+            -270.26338544470264,
+            37.492037231034516
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            210.3614848532901,
+            -267.6653092333493,
+            37.492037231034516
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            211.8614848532901,
+            -265.067233021996,
+            37.492037231034516
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            213.3614848532901,
+            -262.4691568106427,
+            37.492037231034516
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            213.3614848532901,
+            -262.4691568106427,
+            37.492037231034516
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            215.95956106464342,
+            -260.9691568106427,
+            37.492037231034516
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            218.55763727599674,
+            -259.4691568106427,
+            37.492037231034516
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            221.15571348735006,
+            -257.9691568106427,
+            37.492037231034516
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            244.0,
+            -224.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-12-18_496987743/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-12-18_496987743/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..69c6fc541cf2bd41718d719d803e0e820b1d620e
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-12-18_496987743/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            245.879494734563,
+            -282.5501535523309,
+            32.40473371154322
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            244.379494734563,
+            -285.14822976368424,
+            32.40473371154322
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            242.879494734563,
+            -287.74630597503756,
+            32.40473371154322
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            241.379494734563,
+            -290.3443821863909,
+            32.40473371154322
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            239.879494734563,
+            -292.9424583977442,
+            32.40473371154322
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            238.379494734563,
+            -295.5405346090975,
+            32.40473371154322
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            236.879494734563,
+            -298.1386108204508,
+            32.40473371154322
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            236.879494734563,
+            -298.1386108204508,
+            32.40473371154322
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            234.28141852320968,
+            -299.6386108204508,
+            32.40473371154322
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            231.68334231185636,
+            -301.1386108204508,
+            32.40473371154322
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            192.0,
+            -352.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-12-31_159259470/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-12-31_159259470/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0013a4186706fe50f19cfb38eab8bf075eb7d354
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-12-31_159259470/pose.jsonl
@@ -0,0 +1,93 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -96.21061855607806,
+            39.62280476292075,
+            34.649445291773674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -97.71061855607806,
+            42.22088097427407,
+            34.649445291773674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -99.21061855607806,
+            44.81895718562738,
+            34.649445291773674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -100.71061855607806,
+            47.4170333969807,
+            34.649445291773674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -102.21061855607806,
+            50.015109608334015,
+            34.649445291773674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -103.71061855607806,
+            52.61318581968733,
+            34.649445291773674
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -136.0,
+            104.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-12-44_480298490/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-12-44_480298490/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0c739cac379e8d90022262c0cd0cf52324a4fc27
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-12-44_480298490/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            47.28687714893347,
+            246.95917742684762,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            48.78687714893347,
+            244.3611012154943,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            50.28687714893347,
+            241.76302500414099,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            51.78687714893347,
+            239.16494879278767,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            53.28687714893347,
+            236.56687258143435,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            54.78687714893347,
+            233.96879637008104,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            56.28687714893347,
+            231.37072015872772,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            57.78687714893347,
+            228.7726439473744,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            59.28687714893347,
+            226.1745677360211,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            60.78687714893347,
+            223.57649152466777,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            62.28687714893347,
+            220.97841531331446,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            63.78687714893347,
+            218.38033910196114,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            65.28687714893347,
+            215.78226289060783,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            66.78687714893347,
+            213.1841866792545,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            68.28687714893347,
+            210.5861104679012,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            69.78687714893347,
+            207.98803425654788,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            71.28687714893347,
+            205.38995804519456,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            72.78687714893347,
+            202.79188183384124,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            74.28687714893347,
+            200.19380562248793,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            75.78687714893347,
+            197.5957294111346,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            77.28687714893347,
+            194.9976531997813,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            78.78687714893347,
+            192.39957698842798,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            80.28687714893347,
+            189.80150077707466,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            81.78687714893347,
+            187.20342456572135,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            83.28687714893347,
+            184.60534835436803,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            84.78687714893347,
+            182.00727214301472,
+            43.753249519549925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            86.28687714893347,
+            179.4091959316614,
+            43.753249519549925
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            96.0,
+            164.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-13-0_1398295499/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-13-0_1398295499/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..00899da8a900059258db2e14222e9776c31709f5
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-13-0_1398295499/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            172.27573822764268,
+            -157.5511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            172.27573822764268,
+            -160.5511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            172.27573822764268,
+            -163.5511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            172.27573822764268,
+            -166.5511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            172.27573822764268,
+            -169.5511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            172.27573822764268,
+            -172.5511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            172.27573822764268,
+            -175.5511872617027,
+            32.4811880966934
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            172.27573822764268,
+            -175.5511872617027,
+            32.4811880966934
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            172.27573822764268,
+            -175.5511872617027,
+            32.4811880966934
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            172.27573822764268,
+            -175.5511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            169.27573822764268,
+            -175.5511872617027,
+            32.4811880966934
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            169.27573822764268,
+            -175.5511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            166.67766201628936,
+            -177.0511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            164.07958580493604,
+            -178.5511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            161.48150959358273,
+            -180.0511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            158.8834333822294,
+            -181.5511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            156.2853571708761,
+            -183.0511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            153.68728095952278,
+            -184.5511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            151.08920474816946,
+            -186.0511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            148.49112853681615,
+            -187.5511872617027,
+            32.4811880966934
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            148.49112853681615,
+            -187.5511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            145.49112853681615,
+            -187.5511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            142.49112853681615,
+            -187.5511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            139.49112853681615,
+            -187.5511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            136.49112853681615,
+            -187.5511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            133.49112853681615,
+            -187.5511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            130.49112853681615,
+            -187.5511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            127.49112853681615,
+            -187.5511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            124.49112853681615,
+            -187.5511872617027,
+            32.4811880966934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            121.49112853681615,
+            -187.5511872617027,
+            32.4811880966934
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            88.0,
+            -204.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-13-17_1096689772/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-13-17_1096689772/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2738aa6f8c0bb59a732e98ef7d9ae91a1a0c166e
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-13-17_1096689772/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -112.9672596545224,
+            -226.6887717844034,
+            31.712000742009288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -114.4672596545224,
+            -229.28684799575672,
+            31.712000742009288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -115.9672596545224,
+            -231.88492420711003,
+            31.712000742009288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -117.4672596545224,
+            -234.48300041846335,
+            31.712000742009288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -118.9672596545224,
+            -237.08107662981666,
+            31.712000742009288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -120.4672596545224,
+            -239.67915284116998,
+            31.712000742009288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -121.9672596545224,
+            -242.2772290525233,
+            31.712000742009288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -123.4672596545224,
+            -244.8753052638766,
+            31.712000742009288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -124.9672596545224,
+            -247.47338147522993,
+            31.712000742009288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -126.4672596545224,
+            -250.07145768658324,
+            31.712000742009288
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -126.4672596545224,
+            -250.07145768658324,
+            31.712000742009288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -129.0653358658757,
+            -251.57145768658324,
+            31.712000742009288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -131.66341207722903,
+            -253.07145768658324,
+            31.712000742009288
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -164.0,
+            -300.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-13-48_1172755590/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-13-48_1172755590/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8716a7465db5c803b95af9385f3e8e8ffa5c4aa9
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-13-48_1172755590/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            165.62361184813545,
+            129.44038034523103,
+            25.12128274566541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            163.02553563678214,
+            130.94038034523103,
+            25.12128274566541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            160.42745942542882,
+            132.44038034523103,
+            25.12128274566541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            157.8293832140755,
+            133.94038034523103,
+            25.12128274566541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            155.2313070027222,
+            135.44038034523103,
+            25.12128274566541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            152.63323079136887,
+            136.94038034523103,
+            25.12128274566541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            150.03515458001556,
+            138.44038034523103,
+            25.12128274566541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            147.43707836866224,
+            139.94038034523103,
+            25.12128274566541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            144.83900215730893,
+            141.44038034523103,
+            25.12128274566541
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            144.83900215730893,
+            141.44038034523103,
+            25.12128274566541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            141.83900215730893,
+            141.44038034523103,
+            25.12128274566541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            138.83900215730893,
+            141.44038034523103,
+            25.12128274566541
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            138.83900215730893,
+            141.44038034523103,
+            25.12128274566541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            136.2409259459556,
+            142.94038034523103,
+            25.12128274566541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            133.6428497346023,
+            144.44038034523103,
+            25.12128274566541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            131.04477352324898,
+            145.94038034523103,
+            25.12128274566541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            128.44669731189566,
+            147.44038034523103,
+            25.12128274566541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            125.84862110054235,
+            148.94038034523103,
+            25.12128274566541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            123.25054488918903,
+            150.44038034523103,
+            25.12128274566541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            120.65246867783571,
+            151.94038034523103,
+            25.12128274566541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            118.0543924664824,
+            153.44038034523103,
+            25.12128274566541
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            96.0,
+            164.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-15-50_722308542/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-15-50_722308542/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..654ae2217cb120c9c5f8a3177e52b171ec10eca6
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-15-50_722308542/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            128.08175748628346,
+            166.6102566720441,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            128.08175748628346,
+            163.6102566720441,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            128.08175748628346,
+            160.6102566720441,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            128.08175748628346,
+            157.6102566720441,
+            47.05358488412538
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            128.08175748628346,
+            157.6102566720441,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            129.58175748628346,
+            155.0121804606908,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            131.08175748628346,
+            152.41410424933747,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            132.58175748628346,
+            149.81602803798415,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            134.08175748628346,
+            147.21795182663084,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            135.58175748628346,
+            144.61987561527752,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            137.08175748628346,
+            142.0217994039242,
+            47.05358488412538
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            137.08175748628346,
+            142.0217994039242,
+            47.05358488412538
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            137.08175748628346,
+            142.0217994039242,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.220446049250313e-16
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            140.08175748628346,
+            142.0217994039242,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            143.08175748628346,
+            142.0217994039242,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            146.08175748628346,
+            142.0217994039242,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            149.08175748628346,
+            142.0217994039242,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            152.08175748628346,
+            142.0217994039242,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            155.08175748628346,
+            142.0217994039242,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            158.08175748628346,
+            142.0217994039242,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            161.08175748628346,
+            142.0217994039242,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            164.08175748628346,
+            142.0217994039242,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            167.08175748628346,
+            142.0217994039242,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            170.08175748628346,
+            142.0217994039242,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            173.08175748628346,
+            142.0217994039242,
+            47.05358488412538
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            173.08175748628346,
+            142.0217994039242,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            175.67983369763678,
+            140.5217994039242,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            178.2779099089901,
+            139.0217994039242,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            180.8759861203434,
+            137.5217994039242,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            183.47406233169673,
+            136.0217994039242,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            186.07213854305004,
+            134.5217994039242,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            188.67021475440336,
+            133.0217994039242,
+            47.05358488412538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            191.26829096575668,
+            131.5217994039242,
+            47.05358488412538
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            212.0,
+            120.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-17-43_1037127828/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-17-43_1037127828/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1007757625f36c32b109fc6c5d9078668ab46c1d
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-17-43_1037127828/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            71.9575751409337,
+            -290.48989622985846,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            74.9575751409337,
+            -290.48989622985846,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            77.9575751409337,
+            -290.48989622985846,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            80.9575751409337,
+            -290.48989622985846,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            83.9575751409337,
+            -290.48989622985846,
+            49.570848240389864
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            83.9575751409337,
+            -290.48989622985846,
+            49.570848240389864
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            83.9575751409337,
+            -290.48989622985846,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            85.4575751409337,
+            -287.89182001850514,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            86.9575751409337,
+            -285.2937438071518,
+            49.570848240389864
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            86.9575751409337,
+            -285.2937438071518,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            86.9575751409337,
+            -282.2937438071518,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            86.9575751409337,
+            -279.2937438071518,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            86.9575751409337,
+            -276.2937438071518,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            86.9575751409337,
+            -273.2937438071518,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            86.9575751409337,
+            -270.2937438071518,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            86.9575751409337,
+            -267.2937438071518,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            86.9575751409337,
+            -264.2937438071518,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            86.9575751409337,
+            -261.2937438071518,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            86.9575751409337,
+            -258.2937438071518,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            86.9575751409337,
+            -255.29374380715183,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            86.9575751409337,
+            -252.29374380715183,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            86.9575751409337,
+            -249.29374380715183,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            86.9575751409337,
+            -246.29374380715183,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            86.9575751409337,
+            -243.29374380715183,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            86.9575751409337,
+            -240.29374380715183,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            86.9575751409337,
+            -237.29374380715183,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            86.9575751409337,
+            -234.29374380715183,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            86.9575751409337,
+            -231.29374380715183,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            86.9575751409337,
+            -228.29374380715183,
+            49.570848240389864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            86.9575751409337,
+            -225.29374380715183,
+            49.570848240389864
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            88.0,
+            -204.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-19-2_392035568/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-19-2_392035568/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fe089b7f8dd1d7ec298c1d931c1e6c9e27eb2c16
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-19-2_392035568/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            243.92977219140204,
+            -179.33469908653626,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            246.92977219140204,
+            -179.33469908653626,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            249.92977219140204,
+            -179.33469908653626,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            252.92977219140204,
+            -179.33469908653626,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            255.92977219140204,
+            -179.33469908653626,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            258.92977219140204,
+            -179.33469908653626,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            261.92977219140204,
+            -179.33469908653626,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            264.92977219140204,
+            -179.33469908653626,
+            38.08760938826392
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            264.92977219140204,
+            -179.33469908653626,
+            38.08760938826392
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            264.92977219140204,
+            -179.33469908653626,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            266.42977219140204,
+            -181.93277529788958,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            267.92977219140204,
+            -184.5308515092429,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            269.42977219140204,
+            -187.1289277205962,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            270.92977219140204,
+            -189.72700393194953,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            272.42977219140204,
+            -192.32508014330284,
+            38.08760938826392
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            272.42977219140204,
+            -192.32508014330284,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            275.02784840275535,
+            -193.82508014330284,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            277.62592461410867,
+            -195.32508014330284,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            280.224000825462,
+            -196.82508014330284,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            282.8220770368153,
+            -198.32508014330284,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            285.4201532481686,
+            -199.82508014330284,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            288.01822945952193,
+            -201.32508014330284,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            290.61630567087525,
+            -202.82508014330284,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            293.21438188222857,
+            -204.32508014330284,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            295.8124580935819,
+            -205.82508014330284,
+            38.08760938826392
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            295.8124580935819,
+            -205.82508014330284,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            297.3124580935819,
+            -208.42315635465616,
+            38.08760938826392
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            298.8124580935819,
+            -211.02123256600947,
+            38.08760938826392
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            320.0,
+            -224.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-2-25_350322227/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-2-25_350322227/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d5672c0a8fa278bfed751fef7df9b8ac6e412d5e
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-2-25_350322227/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            130.07934546053244,
+            -275.1901815556438,
+            38.43146764349184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            132.67742167188575,
+            -276.6901815556438,
+            38.43146764349184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            135.27549788323907,
+            -278.1901815556438,
+            38.43146764349184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            137.87357409459239,
+            -279.6901815556438,
+            38.43146764349184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            140.4716503059457,
+            -281.1901815556438,
+            38.43146764349184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            143.06972651729902,
+            -282.6901815556438,
+            38.43146764349184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            145.66780272865233,
+            -284.1901815556438,
+            38.43146764349184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            148.26587894000565,
+            -285.6901815556438,
+            38.43146764349184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            150.86395515135897,
+            -287.1901815556438,
+            38.43146764349184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            153.46203136271228,
+            -288.6901815556438,
+            38.43146764349184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            156.0601075740656,
+            -290.1901815556438,
+            38.43146764349184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            158.6581837854189,
+            -291.6901815556438,
+            38.43146764349184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            161.25625999677223,
+            -293.1901815556438,
+            38.43146764349184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            163.85433620812555,
+            -294.6901815556438,
+            38.43146764349184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            166.45241241947886,
+            -296.1901815556438,
+            38.43146764349184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            169.05048863083218,
+            -297.6901815556438,
+            38.43146764349184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            171.6485648421855,
+            -299.1901815556438,
+            38.43146764349184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            174.2466410535388,
+            -300.6901815556438,
+            38.43146764349184
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            174.2466410535388,
+            -300.6901815556438,
+            38.43146764349184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            177.2466410535388,
+            -300.6901815556438,
+            38.43146764349184
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            192.0,
+            -308.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-2-38_841148365/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-2-38_841148365/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7b3b069abc5700aaa2fe44f222662891644fc259
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-2-38_841148365/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -123.56301098846306,
+            -122.61974710765357,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -120.96493477710975,
+            -124.11974710765357,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -118.36685856575643,
+            -125.61974710765357,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -115.76878235440311,
+            -127.11974710765357,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -113.1707061430498,
+            -128.61974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982947
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -110.57262993169648,
+            -130.11974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -107.97455372034317,
+            -131.61974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -105.37647750898985,
+            -133.11974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -102.77840129763653,
+            -134.61974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -100.18032508628322,
+            -136.11974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -97.5822488749299,
+            -137.61974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -94.98417266357659,
+            -139.11974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -92.38609645222327,
+            -140.61974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -89.78802024086995,
+            -142.11974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -87.18994402951664,
+            -143.61974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -84.59186781816332,
+            -145.11974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -81.99379160681,
+            -146.61974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -79.39571539545669,
+            -148.11974710765355,
+            43.2867997067126
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -79.39571539545669,
+            -148.11974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -76.39571539545669,
+            -148.11974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -73.39571539545669,
+            -148.11974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -70.39571539545669,
+            -148.11974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -67.39571539545669,
+            -148.11974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -64.39571539545669,
+            -148.11974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -61.39571539545669,
+            -148.11974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -58.39571539545669,
+            -148.11974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -55.39571539545669,
+            -148.11974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -52.39571539545669,
+            -148.11974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -49.39571539545669,
+            -148.11974710765355,
+            43.2867997067126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -46.39571539545669,
+            -148.11974710765355,
+            43.2867997067126
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -36.0,
+            -152.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-20-0_1447267605/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-20-0_1447267605/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f23ab57382f85a912264e0e42061220cb207e468
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-20-0_1447267605/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -131.84725754885048,
+            180.8044231830428,
+            48.1780513708647
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -131.84725754885048,
+            177.8044231830428,
+            48.1780513708647
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -131.84725754885048,
+            174.8044231830428,
+            48.1780513708647
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -131.84725754885048,
+            171.8044231830428,
+            48.1780513708647
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -131.84725754885048,
+            168.8044231830428,
+            48.1780513708647
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -131.84725754885048,
+            165.8044231830428,
+            48.1780513708647
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -131.84725754885048,
+            162.8044231830428,
+            48.1780513708647
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -131.84725754885048,
+            159.8044231830428,
+            48.1780513708647
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -131.84725754885048,
+            156.8044231830428,
+            48.1780513708647
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -131.84725754885048,
+            153.8044231830428,
+            48.1780513708647
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -131.84725754885048,
+            150.8044231830428,
+            48.1780513708647
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -131.84725754885048,
+            147.8044231830428,
+            48.1780513708647
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -131.84725754885048,
+            144.8044231830428,
+            48.1780513708647
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -131.84725754885048,
+            141.8044231830428,
+            48.1780513708647
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -131.84725754885048,
+            138.8044231830428,
+            48.1780513708647
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -131.84725754885048,
+            135.8044231830428,
+            48.1780513708647
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -131.84725754885048,
+            132.8044231830428,
+            48.1780513708647
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -131.84725754885048,
+            132.8044231830428,
+            48.1780513708647
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -133.34725754885048,
+            130.20634697168947,
+            48.1780513708647
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -134.84725754885048,
+            127.60827076033615,
+            48.1780513708647
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -136.0,
+            104.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-21-29_1346811305/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-21-29_1346811305/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c6e160ce7bee55d691f92efbd1317603d51d50cd
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-21-29_1346811305/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -86.67417308288066,
+            238.7547039335505,
+            26.459937156790094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -85.17417308288066,
+            236.1566277221972,
+            26.459937156790094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -83.67417308288066,
+            233.55855151084387,
+            26.459937156790094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -82.17417308288066,
+            230.96047529949055,
+            26.459937156790094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -80.67417308288066,
+            228.36239908813724,
+            26.459937156790094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -79.17417308288066,
+            225.76432287678392,
+            26.459937156790094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -77.67417308288066,
+            223.1662466654306,
+            26.459937156790094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -76.17417308288066,
+            220.5681704540773,
+            26.459937156790094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -74.67417308288066,
+            217.97009424272397,
+            26.459937156790094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -73.17417308288066,
+            215.37201803137066,
+            26.459937156790094
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -73.17417308288066,
+            215.37201803137066,
+            26.459937156790094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -70.57609687152734,
+            213.87201803137066,
+            26.459937156790094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -67.97802066017402,
+            212.37201803137066,
+            26.459937156790094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -65.37994444882071,
+            210.87201803137066,
+            26.459937156790094
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -44.0,
+            184.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-21-40_1569229320/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-21-40_1569229320/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..80b91e1143bf69366f55a93280ddb0cae91ea509
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-21-40_1569229320/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -288.0271060719826,
+            -137.65985757701608,
+            34.029444282946805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -286.5271060719826,
+            -135.06178136566277,
+            34.029444282946805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -285.0271060719826,
+            -132.46370515430945,
+            34.029444282946805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -283.5271060719826,
+            -129.86562894295614,
+            34.029444282946805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -282.0271060719826,
+            -127.26755273160282,
+            34.029444282946805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -280.5271060719826,
+            -124.6694765202495,
+            34.029444282946805
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -280.5271060719826,
+            -124.6694765202495,
+            34.029444282946805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -277.92902986062927,
+            -123.1694765202495,
+            34.029444282946805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -275.33095364927595,
+            -121.6694765202495,
+            34.029444282946805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -272.73287743792264,
+            -120.1694765202495,
+            34.029444282946805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -270.1348012265693,
+            -118.6694765202495,
+            34.029444282946805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -267.536725015216,
+            -117.1694765202495,
+            34.029444282946805
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -244.0,
+            -96.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-21-50_705178736/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-21-50_705178736/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..82cdf0e35979705d79e7ea48c0b2e07ad1921631
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-21-50_705178736/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -90.96459242672984,
+            -148.414878185913,
+            30.900164886514318
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -93.96459242672984,
+            -148.414878185913,
+            30.900164886514318
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -96.96459242672984,
+            -148.414878185913,
+            30.900164886514318
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -99.96459242672984,
+            -148.414878185913,
+            30.900164886514318
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -102.96459242672984,
+            -148.414878185913,
+            30.900164886514318
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -105.96459242672984,
+            -148.414878185913,
+            30.900164886514318
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -108.96459242672984,
+            -148.414878185913,
+            30.900164886514318
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -111.96459242672984,
+            -148.414878185913,
+            30.900164886514318
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -114.96459242672984,
+            -148.414878185913,
+            30.900164886514318
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -117.96459242672984,
+            -148.414878185913,
+            30.900164886514318
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -120.96459242672984,
+            -148.414878185913,
+            30.900164886514318
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -123.96459242672984,
+            -148.414878185913,
+            30.900164886514318
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -126.96459242672984,
+            -148.414878185913,
+            30.900164886514318
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -129.96459242672984,
+            -148.414878185913,
+            30.900164886514318
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -132.96459242672984,
+            -148.414878185913,
+            30.900164886514318
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -135.96459242672984,
+            -148.414878185913,
+            30.900164886514318
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -135.96459242672984,
+            -148.414878185913,
+            30.900164886514318
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -138.56266863808315,
+            -146.914878185913,
+            30.900164886514318
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -164.0,
+            -144.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-22-14_434248626/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-22-14_434248626/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5a401fb9fb9887ab6362bd2b7d169712d36b6e22
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-22-14_434248626/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            122.52913337391513,
+            -276.69809788560866,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            125.52913337391513,
+            -276.69809788560866,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            128.52913337391513,
+            -276.69809788560866,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            131.52913337391513,
+            -276.69809788560866,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            134.52913337391513,
+            -276.69809788560866,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            137.52913337391513,
+            -276.69809788560866,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            140.52913337391513,
+            -276.69809788560866,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            143.52913337391513,
+            -276.69809788560866,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            146.52913337391513,
+            -276.69809788560866,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            149.52913337391513,
+            -276.69809788560866,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            152.52913337391513,
+            -276.69809788560866,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            155.52913337391513,
+            -276.69809788560866,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            158.52913337391513,
+            -276.69809788560866,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            161.52913337391513,
+            -276.69809788560866,
+            40.29208012506407
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            161.52913337391513,
+            -276.69809788560866,
+            40.29208012506407
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            161.52913337391513,
+            -276.69809788560866,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            163.02913337391513,
+            -279.296174096962,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            164.52913337391513,
+            -281.8942503083153,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            166.02913337391513,
+            -284.4923265196686,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            167.52913337391513,
+            -287.0904027310219,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            169.02913337391513,
+            -289.68847894237524,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            170.52913337391513,
+            -292.28655515372856,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            172.02913337391513,
+            -294.8846313650819,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            173.52913337391513,
+            -297.4827075764352,
+            40.29208012506407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            175.02913337391513,
+            -300.0807837877885,
+            40.29208012506407
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            192.0,
+            -308.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-22-29_1977648522/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-22-29_1977648522/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d254dd2034c2f26088a079330108c6f86f0d33b4
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-22-29_1977648522/pose.jsonl
@@ -0,0 +1,132 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -69.39342184381731,
+            -300.67543707290224,
+            26.381666151036093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -66.79534563246399,
+            -299.17543707290224,
+            26.381666151036093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -64.19726942111068,
+            -297.67543707290224,
+            26.381666151036093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -61.59919320975736,
+            -296.17543707290224,
+            26.381666151036093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -59.001116998404044,
+            -294.67543707290224,
+            26.381666151036093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -56.40304078705073,
+            -293.17543707290224,
+            26.381666151036093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -53.80496457569741,
+            -291.67543707290224,
+            26.381666151036093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -51.206888364344096,
+            -290.17543707290224,
+            26.381666151036093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -48.60881215299078,
+            -288.67543707290224,
+            26.381666151036093
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            16.0,
+            -252.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-23-16_1143408282/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-23-16_1143408282/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..044bdbe248eef5149677585e89fafff8d465ae60
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-23-16_1143408282/pose.jsonl
@@ -0,0 +1,132 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -50.910841967722135,
+            -256.32487197440673,
+            43.42549840717113
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -50.910841967722135,
+            -259.32487197440673,
+            43.42549840717113
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -50.910841967722135,
+            -262.32487197440673,
+            43.42549840717113
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -50.910841967722135,
+            -265.32487197440673,
+            43.42549840717113
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -50.910841967722135,
+            -268.32487197440673,
+            43.42549840717113
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -50.910841967722135,
+            -271.32487197440673,
+            43.42549840717113
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -50.910841967722135,
+            -271.32487197440673,
+            43.42549840717113
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -49.410841967722135,
+            -273.92294818576005,
+            43.42549840717113
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -47.910841967722135,
+            -276.52102439711337,
+            43.42549840717113
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -36.0,
+            -352.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-23-33_559412924/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-23-33_559412924/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a7bae46c2f43802da63d7be01ee08a7c026c7ac0
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-23-33_559412924/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -358.32070156322146,
+            -230.8546259171311,
+            23.670158377001954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -355.32070156322146,
+            -230.8546259171311,
+            23.670158377001954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -352.32070156322146,
+            -230.8546259171311,
+            23.670158377001954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -349.32070156322146,
+            -230.8546259171311,
+            23.670158377001954
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -349.32070156322146,
+            -230.8546259171311,
+            23.670158377001954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -346.72262535186815,
+            -229.3546259171311,
+            23.670158377001954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -344.12454914051483,
+            -227.8546259171311,
+            23.670158377001954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -341.5264729291615,
+            -226.3546259171311,
+            23.670158377001954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -338.9283967178082,
+            -224.8546259171311,
+            23.670158377001954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -336.3303205064549,
+            -223.3546259171311,
+            23.670158377001954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -333.73224429510157,
+            -221.8546259171311,
+            23.670158377001954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -331.13416808374825,
+            -220.3546259171311,
+            23.670158377001954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -328.53609187239493,
+            -218.8546259171311,
+            23.670158377001954
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -300.0,
+            -208.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-23-5_552473416/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-23-5_552473416/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7991675e90d96b9bba0d24fb36222aee7ba5933a
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-23-5_552473416/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            100.75853786315918,
+            -157.76313783885533,
+            20.598215088316877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            99.25853786315918,
+            -155.165061627502,
+            20.598215088316877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            97.75853786315918,
+            -152.5669854161487,
+            20.598215088316877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            96.25853786315918,
+            -149.96890920479538,
+            20.598215088316877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            94.75853786315918,
+            -147.37083299344206,
+            20.598215088316877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            93.25853786315918,
+            -144.77275678208875,
+            20.598215088316877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            91.75853786315918,
+            -142.17468057073543,
+            20.598215088316877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            90.25853786315918,
+            -139.57660435938212,
+            20.598215088316877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            88.75853786315918,
+            -136.9785281480288,
+            20.598215088316877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            87.25853786315918,
+            -134.38045193667548,
+            20.598215088316877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            85.75853786315918,
+            -131.78237572532217,
+            20.598215088316877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            84.25853786315918,
+            -129.18429951396885,
+            20.598215088316877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            82.75853786315918,
+            -126.58622330261554,
+            20.598215088316877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            81.25853786315918,
+            -123.98814709126222,
+            20.598215088316877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            79.75853786315918,
+            -121.3900708799089,
+            20.598215088316877
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            -104.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-25-58_619290071/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-25-58_619290071/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..990acea05cc5e7483d888f4f4d46fecba430f45c
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-25-58_619290071/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -218.26885649234822,
+            154.16921767497539,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -216.76885649234822,
+            151.57114146362207,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -215.26885649234822,
+            148.97306525226875,
+            20.66769529656377
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -215.26885649234822,
+            148.97306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -212.6707802809949,
+            147.47306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -210.0727040696416,
+            145.97306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -207.47462785828827,
+            144.47306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -204.87655164693496,
+            142.97306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -202.27847543558164,
+            141.47306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -199.68039922422832,
+            139.97306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -197.082323012875,
+            138.47306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -194.4842468015217,
+            136.97306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -191.88617059016838,
+            135.47306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -189.28809437881506,
+            133.97306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -186.69001816746174,
+            132.47306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -184.09194195610843,
+            130.97306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -181.4938657447551,
+            129.47306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -178.8957895334018,
+            127.97306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -176.29771332204848,
+            126.47306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -173.69963711069516,
+            124.97306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -171.10156089934185,
+            123.47306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -168.50348468798853,
+            121.97306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -165.90540847663522,
+            120.47306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -163.3073322652819,
+            118.97306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -160.70925605392858,
+            117.47306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -158.11117984257527,
+            115.97306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -155.51310363122195,
+            114.47306525226875,
+            20.66769529656377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -152.91502741986864,
+            112.97306525226875,
+            20.66769529656377
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -136.0,
+            104.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-26-55_7684930/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-26-55_7684930/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..773e9b11b549da88d0d18ef7c85b657841f33e70
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-26-55_7684930/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            99.54169649015203,
+            -227.4581708820391,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            99.54169649015203,
+            -230.4581708820391,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            99.54169649015203,
+            -233.4581708820391,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            99.54169649015203,
+            -236.4581708820391,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            99.54169649015203,
+            -239.4581708820391,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            99.54169649015203,
+            -242.4581708820391,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            99.54169649015203,
+            -245.4581708820391,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            99.54169649015203,
+            -248.4581708820391,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            99.54169649015203,
+            -251.4581708820391,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            99.54169649015203,
+            -254.4581708820391,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            99.54169649015203,
+            -257.4581708820391,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            99.54169649015203,
+            -260.4581708820391,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            99.54169649015203,
+            -263.4581708820391,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            99.54169649015203,
+            -266.4581708820391,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            99.54169649015203,
+            -269.4581708820391,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            99.54169649015203,
+            -272.4581708820391,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            99.54169649015203,
+            -275.4581708820391,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            99.54169649015203,
+            -278.4581708820391,
+            29.53368602640808
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            99.54169649015203,
+            -278.4581708820391,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            101.04169649015203,
+            -281.0562470933924,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            102.54169649015203,
+            -283.65432330474573,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            104.04169649015203,
+            -286.25239951609905,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            105.54169649015203,
+            -288.85047572745236,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            107.04169649015203,
+            -291.4485519388057,
+            29.53368602640808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            108.54169649015203,
+            -294.046628150159,
+            29.53368602640808
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            108.0,
+            -308.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-27-38_711845894/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-27-38_711845894/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9daafa5b703b9a9c8a3b8bda411d0b81f426423d
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-27-38_711845894/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -111.74728456152405,
+            -121.05601586911541,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -109.14920835017074,
+            -122.55601586911541,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -106.55113213881742,
+            -124.05601586911541,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -103.9530559274641,
+            -125.55601586911541,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -101.35497971611079,
+            -127.05601586911541,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -98.75690350475747,
+            -128.5560158691154,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -96.15882729340416,
+            -130.0560158691154,
+            44.27850504389836
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -96.15882729340416,
+            -130.0560158691154,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -94.65882729340416,
+            -132.65409208046873,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -93.15882729340416,
+            -135.25216829182204,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -91.65882729340416,
+            -137.85024450317536,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -90.15882729340416,
+            -140.44832071452868,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -88.65882729340416,
+            -143.046396925882,
+            44.27850504389836
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -88.65882729340416,
+            -143.046396925882,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -86.06075108205084,
+            -144.546396925882,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -83.46267487069753,
+            -146.046396925882,
+            44.27850504389836
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -83.46267487069753,
+            -146.046396925882,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -80.46267487069753,
+            -146.046396925882,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -77.46267487069753,
+            -146.046396925882,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -74.46267487069753,
+            -146.046396925882,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -71.46267487069753,
+            -146.046396925882,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -68.46267487069753,
+            -146.046396925882,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -65.46267487069753,
+            -146.046396925882,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -62.462674870697526,
+            -146.046396925882,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -59.462674870697526,
+            -146.046396925882,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -56.462674870697526,
+            -146.046396925882,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -53.462674870697526,
+            -146.046396925882,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -50.462674870697526,
+            -146.046396925882,
+            44.27850504389836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -47.462674870697526,
+            -146.046396925882,
+            44.27850504389836
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -36.0,
+            -152.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-28-55_1501252996/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-28-55_1501252996/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2e8ccffd7dc81c8b7311662b821bd65d2c693ca1
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-28-55_1501252996/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            67.73859886249868,
+            -241.8161507235834,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            70.73859886249868,
+            -241.8161507235834,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            73.73859886249868,
+            -241.8161507235834,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            76.73859886249868,
+            -241.8161507235834,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            79.73859886249868,
+            -241.8161507235834,
+            48.864578694008614
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            79.73859886249868,
+            -241.8161507235834,
+            48.864578694008614
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            79.73859886249868,
+            -241.8161507235834,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            81.23859886249868,
+            -244.41422693493672,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            82.73859886249868,
+            -247.01230314629004,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            84.23859886249868,
+            -249.61037935764335,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            85.73859886249868,
+            -252.20845556899667,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            87.23859886249868,
+            -254.80653178034999,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            88.73859886249868,
+            -257.4046079917033,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            90.23859886249868,
+            -260.0026842030566,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            91.73859886249868,
+            -262.60076041440993,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            93.23859886249868,
+            -265.19883662576325,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            94.73859886249868,
+            -267.79691283711657,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            96.23859886249868,
+            -270.3949890484699,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            97.73859886249868,
+            -272.9930652598232,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            99.23859886249868,
+            -275.5911414711765,
+            48.864578694008614
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            99.23859886249868,
+            -275.5911414711765,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            99.23859886249868,
+            -278.5911414711765,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            99.23859886249868,
+            -281.5911414711765,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            99.23859886249868,
+            -284.5911414711765,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            99.23859886249868,
+            -287.5911414711765,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            99.23859886249868,
+            -290.5911414711765,
+            48.864578694008614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            99.23859886249868,
+            -293.5911414711765,
+            48.864578694008614
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            108.0,
+            -308.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-29-12_260152959/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-29-12_260152959/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b1fec6335ba9486bb00b2e9b7737482a1eb5d3e9
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-29-12_260152959/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -96.70968466804476,
+            244.3837359437469,
+            27.230496326895494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -95.20968466804476,
+            241.78565973239358,
+            27.230496326895494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -93.70968466804476,
+            239.18758352104027,
+            27.230496326895494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -92.20968466804476,
+            236.58950730968695,
+            27.230496326895494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -90.70968466804476,
+            233.99143109833363,
+            27.230496326895494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -89.20968466804476,
+            231.39335488698032,
+            27.230496326895494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -87.70968466804476,
+            228.795278675627,
+            27.230496326895494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -86.20968466804476,
+            226.1972024642737,
+            27.230496326895494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -84.70968466804476,
+            223.59912625292037,
+            27.230496326895494
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -84.70968466804476,
+            223.59912625292037,
+            27.230496326895494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -82.11160845669144,
+            222.09912625292037,
+            27.230496326895494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -79.51353224533813,
+            220.59912625292037,
+            27.230496326895494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -76.91545603398481,
+            219.09912625292037,
+            27.230496326895494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -74.3173798226315,
+            217.59912625292037,
+            27.230496326895494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -71.71930361127818,
+            216.09912625292037,
+            27.230496326895494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -69.12122739992486,
+            214.59912625292037,
+            27.230496326895494
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -44.0,
+            184.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-29-26_1472713773/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-29-26_1472713773/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f2fc469b412050eb076bca723feade684ae695d3
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-29-26_1472713773/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            23.371589556566605,
+            271.1764684033639,
+            37.24979609046094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            23.371589556566605,
+            268.1764684033639,
+            37.24979609046094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            23.371589556566605,
+            265.1764684033639,
+            37.24979609046094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            23.371589556566605,
+            262.1764684033639,
+            37.24979609046094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            23.371589556566605,
+            259.1764684033639,
+            37.24979609046094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            23.371589556566605,
+            256.1764684033639,
+            37.24979609046094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            23.371589556566605,
+            253.1764684033639,
+            37.24979609046094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            23.371589556566605,
+            250.1764684033639,
+            37.24979609046094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            23.371589556566605,
+            247.1764684033639,
+            37.24979609046094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            23.371589556566605,
+            244.1764684033639,
+            37.24979609046094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            23.371589556566605,
+            241.1764684033639,
+            37.24979609046094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            23.371589556566605,
+            238.1764684033639,
+            37.24979609046094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            23.371589556566605,
+            235.1764684033639,
+            37.24979609046094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            23.371589556566605,
+            232.1764684033639,
+            37.24979609046094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            23.371589556566605,
+            229.1764684033639,
+            37.24979609046094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            23.371589556566605,
+            226.1764684033639,
+            37.24979609046094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            23.371589556566605,
+            223.1764684033639,
+            37.24979609046094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            23.371589556566605,
+            220.1764684033639,
+            37.24979609046094
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            24.0,
+            200.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-29-38_824272813/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-29-38_824272813/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8ecbd4da0940e97ce556b4aa56169c68fe8e0cd9
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-29-38_824272813/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            83.61153806814485,
+            -135.01731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            83.61153806814485,
+            -132.01731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            83.61153806814485,
+            -129.01731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            83.61153806814485,
+            -126.01731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            83.61153806814485,
+            -123.01731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            83.61153806814485,
+            -120.01731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            83.61153806814485,
+            -117.01731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            83.61153806814485,
+            -114.01731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            83.61153806814485,
+            -111.01731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            83.61153806814485,
+            -108.01731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            83.61153806814485,
+            -105.01731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            83.61153806814485,
+            -102.01731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            83.61153806814485,
+            -99.01731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            83.61153806814485,
+            -96.01731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            83.61153806814485,
+            -93.01731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            83.61153806814485,
+            -90.01731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            83.61153806814485,
+            -87.01731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            83.61153806814485,
+            -84.01731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            83.61153806814485,
+            -81.01731772634088,
+            21.364618315211477
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            83.61153806814485,
+            -81.01731772634088,
+            21.364618315211477
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            83.61153806814485,
+            -81.01731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            86.20961427949817,
+            -79.51731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            88.80769049085148,
+            -78.01731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            91.4057667022048,
+            -76.51731772634088,
+            21.364618315211477
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            91.4057667022048,
+            -76.51731772634088,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            92.9057667022048,
+            -73.91924151498756,
+            21.364618315211477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            94.4057667022048,
+            -71.32116530363425,
+            21.364618315211477
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            100.0,
+            -52.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-3-5_1760281936/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-3-5_1760281936/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..84ac5715bd94d26a0b0ae78b10023ef4f849de97
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-3-5_1760281936/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -98.94243629606802,
+            -133.37924120276165,
+            21.926037226216494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -96.34436008471471,
+            -134.87924120276165,
+            21.926037226216494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -93.74628387336139,
+            -136.37924120276165,
+            21.926037226216494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -91.14820766200808,
+            -137.87924120276165,
+            21.926037226216494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -88.55013145065476,
+            -139.37924120276165,
+            21.926037226216494
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -88.55013145065476,
+            -139.37924120276165,
+            21.926037226216494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -87.05013145065476,
+            -141.97731741411496,
+            21.926037226216494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -85.55013145065476,
+            -144.57539362546828,
+            21.926037226216494
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -85.55013145065476,
+            -144.57539362546828,
+            21.926037226216494
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -85.55013145065476,
+            -144.57539362546828,
+            21.926037226216494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.220446049250313e-16
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -82.55013145065476,
+            -144.57539362546828,
+            21.926037226216494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -79.55013145065476,
+            -144.57539362546828,
+            21.926037226216494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -76.55013145065476,
+            -144.57539362546828,
+            21.926037226216494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -73.55013145065476,
+            -144.57539362546828,
+            21.926037226216494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -70.55013145065476,
+            -144.57539362546828,
+            21.926037226216494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -67.55013145065476,
+            -144.57539362546828,
+            21.926037226216494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -64.55013145065476,
+            -144.57539362546828,
+            21.926037226216494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -61.55013145065476,
+            -144.57539362546828,
+            21.926037226216494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -58.55013145065476,
+            -144.57539362546828,
+            21.926037226216494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -55.55013145065476,
+            -144.57539362546828,
+            21.926037226216494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -52.55013145065476,
+            -144.57539362546828,
+            21.926037226216494
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -52.55013145065476,
+            -144.57539362546828,
+            21.926037226216494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -49.952055239301444,
+            -146.07539362546828,
+            21.926037226216494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -47.35397902794813,
+            -147.57539362546828,
+            21.926037226216494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -44.75590281659481,
+            -149.07539362546828,
+            21.926037226216494
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -36.0,
+            -152.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-31-23_1704365084/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-31-23_1704365084/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b1bba38f1ec2737976a729d4d8669cda6a0407e8
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-31-23_1704365084/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            114.435096093142,
+            119.02312845728392,
+            40.501795514371736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            111.83701988178868,
+            117.52312845728392,
+            40.501795514371736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            109.23894367043536,
+            116.02312845728392,
+            40.501795514371736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            106.64086745908205,
+            114.52312845728392,
+            40.501795514371736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            104.04279124772873,
+            113.02312845728392,
+            40.501795514371736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            101.44471503637541,
+            111.52312845728392,
+            40.501795514371736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            98.8466388250221,
+            110.02312845728392,
+            40.501795514371736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            96.24856261366878,
+            108.52312845728392,
+            40.501795514371736
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            96.24856261366878,
+            108.52312845728392,
+            40.501795514371736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            94.74856261366878,
+            105.9250522459306,
+            40.501795514371736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            93.24856261366878,
+            103.32697603457729,
+            40.501795514371736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            91.74856261366878,
+            100.72889982322397,
+            40.501795514371736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            90.24856261366878,
+            98.13082361187065,
+            40.501795514371736
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            48.0,
+            64.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-32-37_1953443376/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-32-37_1953443376/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c950c8cfb9e23d4d006584463311c678708cb30b
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-32-37_1953443376/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            193.70513024118375,
+            -273.24028887390506,
+            42.55254328330149
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            193.70513024118375,
+            -276.24028887390506,
+            42.55254328330149
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            193.70513024118375,
+            -279.24028887390506,
+            42.55254328330149
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            193.70513024118375,
+            -282.24028887390506,
+            42.55254328330149
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            193.70513024118375,
+            -285.24028887390506,
+            42.55254328330149
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            193.70513024118375,
+            -288.24028887390506,
+            42.55254328330149
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            193.70513024118375,
+            -291.24028887390506,
+            42.55254328330149
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            193.70513024118375,
+            -294.24028887390506,
+            42.55254328330149
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            192.0,
+            -352.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-32-45_1876855542/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-32-45_1876855542/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e51c0e8d9c59024128dfb350153158287bb849fb
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-32-45_1876855542/pose.jsonl
@@ -0,0 +1,93 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            22.306174742016523,
+            -287.58444564090274,
+            49.26995359379933
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            20.806174742016523,
+            -290.18252185225606,
+            49.26995359379933
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            19.306174742016523,
+            -292.7805980636094,
+            49.26995359379933
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            17.806174742016523,
+            -295.3786742749627,
+            49.26995359379933
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            17.806174742016523,
+            -295.3786742749627,
+            49.26995359379933
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            15.208098530663207,
+            -296.8786742749627,
+            49.26995359379933
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -36.0,
+            -352.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-33-28_588219756/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-33-28_588219756/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cca8203a69274689119a2da2876bcda0d248e35c
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-33-28_588219756/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            15.33326602575383,
+            -275.02038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            17.931342237107145,
+            -276.52038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            20.52941844846046,
+            -278.02038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            23.127494659813777,
+            -279.52038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            25.725570871167093,
+            -281.02038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            28.32364708252041,
+            -282.52038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            30.921723293873725,
+            -284.02038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            33.51979950522704,
+            -285.52038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            36.11787571658036,
+            -287.02038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            38.71595192793367,
+            -288.52038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            41.31402813928699,
+            -290.02038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            43.912104350640305,
+            -291.52038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            46.51018056199362,
+            -293.02038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            49.10825677334694,
+            -294.52038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            51.70633298470025,
+            -296.02038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            54.30440919605357,
+            -297.52038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            56.902485407406886,
+            -299.02038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            59.5005616187602,
+            -300.52038498442266,
+            30.368289644166857
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            59.5005616187602,
+            -300.52038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            62.5005616187602,
+            -300.52038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            65.5005616187602,
+            -300.52038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            68.5005616187602,
+            -300.52038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            71.5005616187602,
+            -300.52038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            74.5005616187602,
+            -300.52038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            77.5005616187602,
+            -300.52038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            80.5005616187602,
+            -300.52038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            83.5005616187602,
+            -300.52038498442266,
+            30.368289644166857
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            86.5005616187602,
+            -300.52038498442266,
+            30.368289644166857
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            108.0,
+            -308.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-34-12_1057418418/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-34-12_1057418418/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..942b1a5e98b15ac6e3ef890936eff919e1cb9533
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-34-12_1057418418/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -327.854101604155,
+            -139.07741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -325.2560253928017,
+            -137.57741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -322.6579491814484,
+            -136.07741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -320.05987297009506,
+            -134.57741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -317.46179675874174,
+            -133.07741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -314.8637205473884,
+            -131.57741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -312.2656443360351,
+            -130.07741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -309.6675681246818,
+            -128.57741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -307.0694919133285,
+            -127.07741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -304.47141570197516,
+            -125.57741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -301.87333949062185,
+            -124.07741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -299.27526327926853,
+            -122.57741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -296.6771870679152,
+            -121.07741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -294.0791108565619,
+            -119.57741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -291.4810346452086,
+            -118.07741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -288.88295843385526,
+            -116.57741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -286.28488222250195,
+            -115.07741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -283.68680601114863,
+            -113.57741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -281.0887297997953,
+            -112.07741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -278.490653588442,
+            -110.57741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -275.8925773770887,
+            -109.07741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -273.29450116573537,
+            -107.57741137125606,
+            36.40089028017685
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -273.29450116573537,
+            -107.57741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -270.29450116573537,
+            -107.57741137125606,
+            36.40089028017685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -267.29450116573537,
+            -107.57741137125606,
+            36.40089028017685
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -244.0,
+            -96.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-34-58_625032172/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-34-58_625032172/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..447fede16c13e145220e8a7536758a49486f26f1
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-34-58_625032172/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -185.98477664082395,
+            -243.27448267750947,
+            48.093741117490076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -184.48477664082395,
+            -245.87255888886278,
+            48.093741117490076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -182.98477664082395,
+            -248.4706351002161,
+            48.093741117490076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -181.48477664082395,
+            -251.06871131156942,
+            48.093741117490076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -179.98477664082395,
+            -253.66678752292273,
+            48.093741117490076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -178.48477664082395,
+            -256.26486373427605,
+            48.093741117490076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -176.98477664082395,
+            -258.86293994562936,
+            48.093741117490076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -175.48477664082395,
+            -261.4610161569827,
+            48.093741117490076
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -175.48477664082395,
+            -261.4610161569827,
+            48.093741117490076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -175.48477664082395,
+            -264.4610161569827,
+            48.093741117490076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -175.48477664082395,
+            -267.4610161569827,
+            48.093741117490076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -175.48477664082395,
+            -270.4610161569827,
+            48.093741117490076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -175.48477664082395,
+            -273.4610161569827,
+            48.093741117490076
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -164.0,
+            -300.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-35-8_387451659/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-35-8_387451659/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..98775725e63c0cd64d5c95825c699db761b8a945
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-35-8_387451659/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            154.69632064850575,
+            208.995729251861,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            151.69632064850575,
+            208.995729251861,
+            32.729574744454276
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            151.69632064850575,
+            208.995729251861,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            149.09824443715243,
+            210.495729251861,
+            32.729574744454276
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            149.09824443715243,
+            210.495729251861,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            147.59824443715243,
+            213.09380546321432,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            146.09824443715243,
+            215.69188167456764,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            144.59824443715243,
+            218.28995788592096,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            143.09824443715243,
+            220.88803409727427,
+            32.729574744454276
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            143.09824443715243,
+            220.88803409727427,
+            32.729574744454276
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            143.09824443715243,
+            220.88803409727427,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            140.09824443715243,
+            220.88803409727427,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            137.09824443715243,
+            220.88803409727427,
+            32.729574744454276
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            137.09824443715243,
+            220.88803409727427,
+            32.729574744454276
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            137.09824443715243,
+            220.88803409727427,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            135.59824443715243,
+            218.28995788592096,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            134.09824443715243,
+            215.69188167456764,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            132.59824443715243,
+            213.09380546321432,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            131.09824443715243,
+            210.495729251861,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            129.59824443715243,
+            207.8976530405077,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            128.09824443715243,
+            205.29957682915438,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            126.59824443715243,
+            202.70150061780106,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            125.09824443715243,
+            200.10342440644774,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            123.59824443715243,
+            197.50534819509443,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            122.09824443715243,
+            194.9072719837411,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            120.59824443715243,
+            192.3091957723878,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            119.09824443715243,
+            189.71111956103448,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            117.59824443715243,
+            187.11304334968116,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            116.09824443715243,
+            184.51496713832785,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            114.59824443715243,
+            181.91689092697453,
+            32.729574744454276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            113.09824443715243,
+            179.31881471562122,
+            32.729574744454276
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            96.0,
+            164.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-37-58_260401255/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-37-58_260401255/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d3c6673bb77721ee438427fa86fdff593297fc79
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-37-58_260401255/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -143.97603108318464,
+            -121.07250119765197,
+            31.046917986705324
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -140.97603108318464,
+            -121.07250119765197,
+            31.046917986705324
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -137.97603108318464,
+            -121.07250119765197,
+            31.046917986705324
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -134.97603108318464,
+            -121.07250119765197,
+            31.046917986705324
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -131.97603108318464,
+            -121.07250119765197,
+            31.046917986705324
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -128.97603108318464,
+            -121.07250119765197,
+            31.046917986705324
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -125.97603108318464,
+            -121.07250119765197,
+            31.046917986705324
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -122.97603108318464,
+            -121.07250119765197,
+            31.046917986705324
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -119.97603108318464,
+            -121.07250119765197,
+            31.046917986705324
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -116.97603108318464,
+            -121.07250119765197,
+            31.046917986705324
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -113.97603108318464,
+            -121.07250119765197,
+            31.046917986705324
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -110.97603108318464,
+            -121.07250119765197,
+            31.046917986705324
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -107.97603108318464,
+            -121.07250119765197,
+            31.046917986705324
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -104.97603108318464,
+            -121.07250119765197,
+            31.046917986705324
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -101.97603108318464,
+            -121.07250119765197,
+            31.046917986705324
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -98.97603108318464,
+            -121.07250119765197,
+            31.046917986705324
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -95.97603108318464,
+            -121.07250119765197,
+            31.046917986705324
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -92.97603108318464,
+            -121.07250119765197,
+            31.046917986705324
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -89.97603108318464,
+            -121.07250119765197,
+            31.046917986705324
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -86.97603108318464,
+            -121.07250119765197,
+            31.046917986705324
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -72.0,
+            -124.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-38-43_697517721/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-38-43_697517721/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e0914c89f399bf1469e1cff882d49a164bbe6aa0
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-38-43_697517721/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -95.48273514834403,
+            46.96922904511771,
+            39.00345572009593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -93.98273514834403,
+            49.56730525647102,
+            39.00345572009593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -92.48273514834403,
+            52.16538146782434,
+            39.00345572009593
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -92.48273514834403,
+            52.16538146782434,
+            39.00345572009593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -89.88465893699072,
+            53.66538146782434,
+            39.00345572009593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -87.2865827256374,
+            55.16538146782434,
+            39.00345572009593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -84.68850651428409,
+            56.66538146782434,
+            39.00345572009593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -82.09043030293077,
+            58.16538146782434,
+            39.00345572009593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -79.49235409157745,
+            59.66538146782434,
+            39.00345572009593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -76.89427788022414,
+            61.16538146782434,
+            39.00345572009593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -74.29620166887082,
+            62.66538146782434,
+            39.00345572009593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -71.6981254575175,
+            64.16538146782433,
+            39.00345572009593
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -44.0,
+            88.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-38-53_2001229904/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-38-53_2001229904/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8eb62a657d7acc455cf59b11a7cb963340b7509d
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-38-53_2001229904/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            76.07612947496737,
+            245.9996255749112,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            76.07612947496737,
+            242.9996255749112,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            76.07612947496737,
+            239.9996255749112,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            76.07612947496737,
+            236.9996255749112,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            76.07612947496737,
+            233.9996255749112,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            76.07612947496737,
+            230.9996255749112,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            76.07612947496737,
+            227.9996255749112,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            76.07612947496737,
+            224.9996255749112,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            76.07612947496737,
+            221.9996255749112,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            76.07612947496737,
+            218.9996255749112,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            76.07612947496737,
+            215.9996255749112,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            76.07612947496737,
+            212.9996255749112,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            76.07612947496737,
+            209.9996255749112,
+            32.58302171572059
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            76.07612947496737,
+            209.9996255749112,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            77.57612947496737,
+            207.40154936355788,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            79.07612947496737,
+            204.80347315220456,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            80.57612947496737,
+            202.20539694085124,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            82.07612947496737,
+            199.60732072949793,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            83.57612947496737,
+            197.0092445181446,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            85.07612947496737,
+            194.4111683067913,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            86.57612947496737,
+            191.81309209543798,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            88.07612947496737,
+            189.21501588408466,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            89.57612947496737,
+            186.61693967273135,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            91.07612947496737,
+            184.01886346137803,
+            32.58302171572059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            92.57612947496737,
+            181.42078725002472,
+            32.58302171572059
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            96.0,
+            164.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-39-21_1335939811/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-39-21_1335939811/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e2054bd9364941205d580850ebeb3102f102d5c5
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-39-21_1335939811/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            54.63883670932255,
+            -242.9411631244601,
+            33.68193689710939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            53.13883670932255,
+            -240.3430869131068,
+            33.68193689710939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            51.63883670932255,
+            -237.74501070175347,
+            33.68193689710939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            50.13883670932255,
+            -235.14693449040016,
+            33.68193689710939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            48.63883670932255,
+            -232.54885827904684,
+            33.68193689710939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            47.13883670932255,
+            -229.95078206769352,
+            33.68193689710939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            45.63883670932255,
+            -227.3527058563402,
+            33.68193689710939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            44.13883670932255,
+            -224.7546296449869,
+            33.68193689710939
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            12.0,
+            -180.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-39-44_1756915667/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-39-44_1756915667/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..de3c1872cac61a42968309cc8e3c244a2d94ddb4
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-39-44_1756915667/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            93.62759163400841,
+            -224.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            93.62759163400841,
+            -227.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            93.62759163400841,
+            -230.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            93.62759163400841,
+            -233.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            93.62759163400841,
+            -236.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            93.62759163400841,
+            -239.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            93.62759163400841,
+            -242.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            93.62759163400841,
+            -245.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            93.62759163400841,
+            -248.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            93.62759163400841,
+            -251.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            93.62759163400841,
+            -254.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            93.62759163400841,
+            -257.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            93.62759163400841,
+            -260.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            93.62759163400841,
+            -263.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            93.62759163400841,
+            -266.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            93.62759163400841,
+            -269.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            93.62759163400841,
+            -272.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            93.62759163400841,
+            -275.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            93.62759163400841,
+            -278.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            93.62759163400841,
+            -281.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            93.62759163400841,
+            -284.547183710157,
+            35.06858920469179
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            93.62759163400841,
+            -284.547183710157,
+            35.06858920469179
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            93.62759163400841,
+            -284.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            96.22566784536173,
+            -286.047183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            98.82374405671504,
+            -287.547183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            101.42182026806836,
+            -289.047183710157,
+            35.06858920469179
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            101.42182026806836,
+            -289.047183710157,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            102.92182026806836,
+            -291.64525992151033,
+            35.06858920469179
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            104.42182026806836,
+            -294.24333613286365,
+            35.06858920469179
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            108.0,
+            -308.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-4-18_1244316437/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-4-18_1244316437/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..adac832bcf231238d4442f30b9d49c312cf08ae3
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-4-18_1244316437/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -238.5674770193082,
+            -268.0704707377621,
+            21.25772327723564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -238.5674770193082,
+            -265.0704707377621,
+            21.25772327723564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -238.5674770193082,
+            -262.0704707377621,
+            21.25772327723564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -238.5674770193082,
+            -259.0704707377621,
+            21.25772327723564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -238.5674770193082,
+            -256.0704707377621,
+            21.25772327723564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -238.5674770193082,
+            -253.0704707377621,
+            21.25772327723564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -238.5674770193082,
+            -250.0704707377621,
+            21.25772327723564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -238.5674770193082,
+            -247.0704707377621,
+            21.25772327723564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -238.5674770193082,
+            -244.0704707377621,
+            21.25772327723564
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -238.5674770193082,
+            -244.0704707377621,
+            21.25772327723564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -237.0674770193082,
+            -241.47239452640878,
+            21.25772327723564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -235.5674770193082,
+            -238.87431831505546,
+            21.25772327723564
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -228.0,
+            -208.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-4-28_971899228/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-4-28_971899228/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..76d323d41c8cbdbe6e07df94f1b588e8b25fcbc3
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-4-28_971899228/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -103.8886936944752,
+            -152.70451207113229,
+            28.516890882531904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -100.8886936944752,
+            -152.70451207113229,
+            28.516890882531904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -97.8886936944752,
+            -152.70451207113229,
+            28.516890882531904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -94.8886936944752,
+            -152.70451207113229,
+            28.516890882531904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -91.8886936944752,
+            -152.70451207113229,
+            28.516890882531904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -88.8886936944752,
+            -152.70451207113229,
+            28.516890882531904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -85.8886936944752,
+            -152.70451207113229,
+            28.516890882531904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -82.8886936944752,
+            -152.70451207113229,
+            28.516890882531904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -79.8886936944752,
+            -152.70451207113229,
+            28.516890882531904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -76.8886936944752,
+            -152.70451207113229,
+            28.516890882531904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -73.8886936944752,
+            -152.70451207113229,
+            28.516890882531904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -70.8886936944752,
+            -152.70451207113229,
+            28.516890882531904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -67.8886936944752,
+            -152.70451207113229,
+            28.516890882531904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -64.8886936944752,
+            -152.70451207113229,
+            28.516890882531904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -61.888693694475194,
+            -152.70451207113229,
+            28.516890882531904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -58.888693694475194,
+            -152.70451207113229,
+            28.516890882531904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -55.888693694475194,
+            -152.70451207113229,
+            28.516890882531904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -52.888693694475194,
+            -152.70451207113229,
+            28.516890882531904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -49.888693694475194,
+            -152.70451207113229,
+            28.516890882531904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -46.888693694475194,
+            -152.70451207113229,
+            28.516890882531904
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -36.0,
+            -152.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-41-30_555996658/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-41-30_555996658/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7f72d69f2c76783c03cc32d430c0ad2e42df149a
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-41-30_555996658/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            124.97678597897142,
+            -288.16088947239643,
+            42.394167257804334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            127.97678597897142,
+            -288.16088947239643,
+            42.394167257804334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            130.9767859789714,
+            -288.16088947239643,
+            42.394167257804334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            133.9767859789714,
+            -288.16088947239643,
+            42.394167257804334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            136.9767859789714,
+            -288.16088947239643,
+            42.394167257804334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            139.9767859789714,
+            -288.16088947239643,
+            42.394167257804334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            142.9767859789714,
+            -288.16088947239643,
+            42.394167257804334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            145.9767859789714,
+            -288.16088947239643,
+            42.394167257804334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            148.9767859789714,
+            -288.16088947239643,
+            42.394167257804334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            151.9767859789714,
+            -288.16088947239643,
+            42.394167257804334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            154.9767859789714,
+            -288.16088947239643,
+            42.394167257804334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            157.9767859789714,
+            -288.16088947239643,
+            42.394167257804334
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            157.9767859789714,
+            -288.16088947239643,
+            42.394167257804334
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            157.9767859789714,
+            -288.16088947239643,
+            42.394167257804334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            159.4767859789714,
+            -290.75896568374975,
+            42.394167257804334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            160.9767859789714,
+            -293.35704189510307,
+            42.394167257804334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            162.4767859789714,
+            -295.9551181064564,
+            42.394167257804334
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            162.4767859789714,
+            -295.9551181064564,
+            42.394167257804334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            165.07486219032472,
+            -297.4551181064564,
+            42.394167257804334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            167.67293840167804,
+            -298.9551181064564,
+            42.394167257804334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            170.27101461303135,
+            -300.4551181064564,
+            42.394167257804334
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            192.0,
+            -308.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-41-56_155789224/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-41-56_155789224/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f59ed9003af78d87f4a79d1e23187ea4968acd0f
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-41-56_155789224/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -181.87091076209938,
+            -256.79149506896545,
+            38.42391874468786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -184.4689869734527,
+            -258.29149506896545,
+            38.42391874468786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -187.06706318480602,
+            -259.79149506896545,
+            38.42391874468786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -189.66513939615933,
+            -261.29149506896545,
+            38.42391874468786
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -189.66513939615933,
+            -261.29149506896545,
+            38.42391874468786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -191.16513939615933,
+            -263.88957128031876,
+            38.42391874468786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -192.66513939615933,
+            -266.4876474916721,
+            38.42391874468786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -194.16513939615933,
+            -269.0857237030254,
+            38.42391874468786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -195.66513939615933,
+            -271.6837999143787,
+            38.42391874468786
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -195.66513939615933,
+            -271.6837999143787,
+            38.42391874468786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -198.26321560751265,
+            -273.1837999143787,
+            38.42391874468786
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -228.0,
+            -300.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-42-50_711645630/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-42-50_711645630/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5e8b5fee85b95df0e19ed821652061ae175ffffe
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-42-50_711645630/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            52.63458312820621,
+            -286.8719863065831,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            52.63458312820621,
+            -283.8719863065831,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            52.63458312820621,
+            -280.8719863065831,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            52.63458312820621,
+            -277.8719863065831,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            52.63458312820621,
+            -274.8719863065831,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            52.63458312820621,
+            -271.8719863065831,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            52.63458312820621,
+            -268.8719863065831,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            52.63458312820621,
+            -265.8719863065831,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            52.63458312820621,
+            -262.8719863065831,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            52.63458312820621,
+            -259.8719863065831,
+            37.05981809573312
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            52.63458312820621,
+            -259.8719863065831,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            54.13458312820621,
+            -257.2739100952298,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            55.63458312820621,
+            -254.67583388387646,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            57.13458312820621,
+            -252.07775767252315,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            58.63458312820621,
+            -249.47968146116983,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            60.13458312820621,
+            -246.88160524981652,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            61.63458312820621,
+            -244.2835290384632,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            63.13458312820621,
+            -241.68545282710988,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            64.63458312820622,
+            -239.08737661575657,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965956
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            66.13458312820622,
+            -236.48930040440325,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            67.63458312820622,
+            -233.89122419304994,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            69.13458312820622,
+            -231.29314798169662,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            70.63458312820622,
+            -228.6950717703433,
+            37.05981809573312
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            70.63458312820622,
+            -228.6950717703433,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            73.23265933955953,
+            -227.1950717703433,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            75.83073555091285,
+            -225.6950717703433,
+            37.05981809573312
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            78.42881176226616,
+            -224.1950717703433,
+            37.05981809573312
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            88.0,
+            -204.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-42-5_231602422/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-42-5_231602422/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4278946d23d2fbd105ab60e2879c8aad38e026d1
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-42-5_231602422/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -215.32246688953367,
+            -255.32734447989807,
+            30.97388688336561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982907
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -212.72439067818036,
+            -256.82734447989804,
+            30.97388688336561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982907
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -210.12631446682704,
+            -258.32734447989804,
+            30.97388688336561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -207.52823825547372,
+            -259.82734447989804,
+            30.97388688336561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -204.9301620441204,
+            -261.32734447989804,
+            30.97388688336561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -202.3320858327671,
+            -262.82734447989804,
+            30.97388688336561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -199.73400962141378,
+            -264.32734447989804,
+            30.97388688336561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -197.13593341006046,
+            -265.82734447989804,
+            30.97388688336561
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -197.13593341006046,
+            -265.82734447989804,
+            30.97388688336561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -195.63593341006046,
+            -268.42542069125136,
+            30.97388688336561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -194.13593341006046,
+            -271.0234969026047,
+            30.97388688336561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -192.63593341006046,
+            -273.621573113958,
+            30.97388688336561
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -191.13593341006046,
+            -276.2196493253113,
+            30.97388688336561
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -164.0,
+            -300.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-43-47_1253207672/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-43-47_1253207672/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..05c13b6cd0027af6108cd1874dfe0d27add132f0
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-43-47_1253207672/pose.jsonl
@@ -0,0 +1,106 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -98.90384846963498,
+            55.4300030172915,
+            43.21386432125364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -96.30577225828166,
+            56.9300030172915,
+            43.21386432125364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -93.70769604692835,
+            58.4300030172915,
+            43.21386432125364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -91.10961983557503,
+            59.9300030172915,
+            43.21386432125364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -88.51154362422172,
+            61.4300030172915,
+            43.21386432125364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -85.9134674128684,
+            62.9300030172915,
+            43.21386432125364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -83.31539120151508,
+            64.4300030172915,
+            43.21386432125364
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -44.0,
+            88.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-43-6_195740084/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-43-6_195740084/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..efe5c464ad8f54c23bd99f2f93f0e5a8a098d4c7
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-43-6_195740084/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -222.909334136405,
+            128.42176239927517,
+            28.66104482396782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -219.909334136405,
+            128.42176239927517,
+            28.66104482396782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -216.909334136405,
+            128.42176239927517,
+            28.66104482396782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -213.909334136405,
+            128.42176239927517,
+            28.66104482396782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -210.909334136405,
+            128.42176239927517,
+            28.66104482396782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -207.909334136405,
+            128.42176239927517,
+            28.66104482396782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -204.909334136405,
+            128.42176239927517,
+            28.66104482396782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -201.909334136405,
+            128.42176239927517,
+            28.66104482396782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -198.909334136405,
+            128.42176239927517,
+            28.66104482396782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -195.909334136405,
+            128.42176239927517,
+            28.66104482396782
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -195.909334136405,
+            128.42176239927517,
+            28.66104482396782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -193.31125792505168,
+            126.92176239927517,
+            28.66104482396782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -190.71318171369836,
+            125.42176239927517,
+            28.66104482396782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -188.11510550234505,
+            123.92176239927517,
+            28.66104482396782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -185.51702929099173,
+            122.42176239927517,
+            28.66104482396782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -182.9189530796384,
+            120.92176239927517,
+            28.66104482396782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -180.3208768682851,
+            119.42176239927517,
+            28.66104482396782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -177.72280065693178,
+            117.92176239927517,
+            28.66104482396782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -175.12472444557847,
+            116.42176239927517,
+            28.66104482396782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -172.52664823422515,
+            114.92176239927517,
+            28.66104482396782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -169.92857202287183,
+            113.42176239927517,
+            28.66104482396782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -167.33049581151852,
+            111.92176239927517,
+            28.66104482396782
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -136.0,
+            104.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-44-43_1046741222/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-44-43_1046741222/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8447f5901936e2c94932def1e78c4c271aec14b0
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-44-43_1046741222/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            66.00300700692665,
+            -227.6683957252784,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            67.50300700692665,
+            -230.26647193663172,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            69.00300700692665,
+            -232.86454814798503,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            70.50300700692665,
+            -235.46262435933835,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            72.00300700692665,
+            -238.06070057069167,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            73.50300700692665,
+            -240.65877678204498,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            75.00300700692665,
+            -243.2568529933983,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            76.50300700692665,
+            -245.8549292047516,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            78.00300700692665,
+            -248.45300541610493,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            79.50300700692665,
+            -251.05108162745825,
+            25.63985597155572
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            79.50300700692665,
+            -251.05108162745825,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            82.10108321827997,
+            -252.55108162745825,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            84.69915942963328,
+            -254.05108162745825,
+            25.63985597155572
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            84.69915942963328,
+            -254.05108162745825,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            86.19915942963328,
+            -256.64915783881156,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            87.69915942963328,
+            -259.2472340501649,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            89.19915942963328,
+            -261.8453102615182,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            90.69915942963328,
+            -264.4433864728715,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            92.19915942963328,
+            -267.0414626842248,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            93.69915942963328,
+            -269.63953889557814,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            95.19915942963328,
+            -272.23761510693146,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            96.69915942963328,
+            -274.8356913182848,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            98.19915942963328,
+            -277.4337675296381,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            99.69915942963328,
+            -280.0318437409914,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            101.19915942963328,
+            -282.6299199523447,
+            25.63985597155572
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            101.19915942963328,
+            -282.6299199523447,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            101.19915942963328,
+            -285.6299199523447,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            101.19915942963328,
+            -288.6299199523447,
+            25.63985597155572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            101.19915942963328,
+            -291.6299199523447,
+            25.63985597155572
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            108.0,
+            -308.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-45-11_1896306640/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-45-11_1896306640/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..61cea9611881e9e82d33e4ae6693c3d45e6b195a
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-45-11_1896306640/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            28.673359958132437,
+            -280.98138672793164,
+            33.840230672929756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            27.173359958132437,
+            -283.57946293928495,
+            33.840230672929756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            25.673359958132437,
+            -286.17753915063827,
+            33.840230672929756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            24.173359958132437,
+            -288.7756153619916,
+            33.840230672929756
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            24.173359958132437,
+            -288.7756153619916,
+            33.840230672929756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            21.57528374677912,
+            -290.2756153619916,
+            33.840230672929756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            18.977207535425805,
+            -291.7756153619916,
+            33.840230672929756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            16.37913132407249,
+            -293.2756153619916,
+            33.840230672929756
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            16.37913132407249,
+            -293.2756153619916,
+            33.840230672929756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            14.879131324072489,
+            -295.8736915733449,
+            33.840230672929756
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -36.0,
+            -352.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-45-53_1197352298/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-45-53_1197352298/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6bccce014f8636bbcd2ff24194bfbd03018c0887
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-45-53_1197352298/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -28.338802282238902,
+            61.46281384124048,
+            43.59985131419333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -25.338802282238902,
+            61.46281384124048,
+            43.59985131419333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -22.338802282238902,
+            61.46281384124048,
+            43.59985131419333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -19.338802282238902,
+            61.46281384124048,
+            43.59985131419333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -16.338802282238902,
+            61.46281384124048,
+            43.59985131419333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -13.338802282238902,
+            61.46281384124048,
+            43.59985131419333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -10.338802282238902,
+            61.46281384124048,
+            43.59985131419333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -7.338802282238902,
+            61.46281384124048,
+            43.59985131419333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -4.338802282238902,
+            61.46281384124048,
+            43.59985131419333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1.3388022822389019,
+            61.46281384124048,
+            43.59985131419333
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            48.0,
+            64.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-46-32_846942590/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-46-32_846942590/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8723c23c708c5b5453d328d3d7194273e98f334d
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-46-32_846942590/pose.jsonl
@@ -0,0 +1,106 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            292.3589414353958,
+            -282.93005478845174,
+            25.978741971882133
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            293.8589414353958,
+            -280.3319785770984,
+            25.978741971882133
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            295.3589414353958,
+            -277.7339023657451,
+            25.978741971882133
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            296.8589414353958,
+            -275.1358261543918,
+            25.978741971882133
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            298.3589414353958,
+            -272.5377499430385,
+            25.978741971882133
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            298.3589414353958,
+            -272.5377499430385,
+            25.978741971882133
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            298.3589414353958,
+            -269.5377499430385,
+            25.978741971882133
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            320.0,
+            -224.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-46-41_524688209/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-46-41_524688209/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7a23bc3b1ac59c085ccaaa20d97ac99b546c03aa
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-46-41_524688209/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -163.7294852286839,
+            -272.63181468178584,
+            23.850499095947658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -166.7294852286839,
+            -272.63181468178584,
+            23.850499095947658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -169.7294852286839,
+            -272.63181468178584,
+            23.850499095947658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -172.7294852286839,
+            -272.63181468178584,
+            23.850499095947658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -175.7294852286839,
+            -272.63181468178584,
+            23.850499095947658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -178.7294852286839,
+            -272.63181468178584,
+            23.850499095947658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -181.7294852286839,
+            -272.63181468178584,
+            23.850499095947658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -184.7294852286839,
+            -272.63181468178584,
+            23.850499095947658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -187.7294852286839,
+            -272.63181468178584,
+            23.850499095947658
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -187.7294852286839,
+            -272.63181468178584,
+            23.850499095947658
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -187.7294852286839,
+            -272.63181468178584,
+            23.850499095947658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -189.2294852286839,
+            -275.22989089313916,
+            23.850499095947658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -190.7294852286839,
+            -277.8279671044925,
+            23.850499095947658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -192.2294852286839,
+            -280.4260433158458,
+            23.850499095947658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -193.7294852286839,
+            -283.0241195271991,
+            23.850499095947658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -195.2294852286839,
+            -285.6221957385524,
+            23.850499095947658
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -228.0,
+            -300.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-46-52_700108581/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-46-52_700108581/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..51bee0dbb1638d90200918a353ba226ad0d777a5
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-46-52_700108581/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -193.92403802994068,
+            -129.5147345506012,
+            22.896759335523196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -192.42403802994068,
+            -132.1128107619545,
+            22.896759335523196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -190.92403802994068,
+            -134.71088697330782,
+            22.896759335523196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -189.42403802994068,
+            -137.30896318466114,
+            22.896759335523196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -187.92403802994068,
+            -139.90703939601445,
+            22.896759335523196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -186.42403802994068,
+            -142.50511560736777,
+            22.896759335523196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -184.92403802994068,
+            -145.1031918187211,
+            22.896759335523196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -183.42403802994068,
+            -147.7012680300744,
+            22.896759335523196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -181.92403802994068,
+            -150.29934424142772,
+            22.896759335523196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -180.42403802994068,
+            -152.89742045278103,
+            22.896759335523196
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -180.42403802994068,
+            -152.89742045278103,
+            22.896759335523196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -180.42403802994068,
+            -155.89742045278103,
+            22.896759335523196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -180.42403802994068,
+            -158.89742045278103,
+            22.896759335523196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -180.42403802994068,
+            -161.89742045278103,
+            22.896759335523196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -180.42403802994068,
+            -164.89742045278103,
+            22.896759335523196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -180.42403802994068,
+            -167.89742045278103,
+            22.896759335523196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -180.42403802994068,
+            -170.89742045278103,
+            22.896759335523196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -180.42403802994068,
+            -173.89742045278103,
+            22.896759335523196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -180.42403802994068,
+            -176.89742045278103,
+            22.896759335523196
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -180.42403802994068,
+            -176.89742045278103,
+            22.896759335523196
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -180.42403802994068,
+            -176.89742045278103,
+            22.896759335523196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -177.82596181858736,
+            -178.39742045278103,
+            22.896759335523196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -175.22788560723404,
+            -179.89742045278103,
+            22.896759335523196
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -164.0,
+            -208.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-48-12_292218004/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-48-12_292218004/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a70ccabe34b3f6b5b80a3b04cc222c1215040e3e
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-48-12_292218004/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            99.7510210088108,
+            247.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            99.7510210088108,
+            244.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            99.7510210088108,
+            241.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            99.7510210088108,
+            238.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            99.7510210088108,
+            235.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            99.7510210088108,
+            232.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            99.7510210088108,
+            229.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            99.7510210088108,
+            226.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            99.7510210088108,
+            223.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            99.7510210088108,
+            220.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            99.7510210088108,
+            217.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            99.7510210088108,
+            214.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            99.7510210088108,
+            211.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            99.7510210088108,
+            208.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            99.7510210088108,
+            205.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            99.7510210088108,
+            202.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            99.7510210088108,
+            199.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            99.7510210088108,
+            196.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            99.7510210088108,
+            193.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            99.7510210088108,
+            190.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            99.7510210088108,
+            187.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            99.7510210088108,
+            184.19019650253887,
+            41.08366431413761
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            99.7510210088108,
+            184.19019650253887,
+            41.08366431413761
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            98.2510210088108,
+            181.59212029118555,
+            41.08366431413761
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            96.0,
+            164.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-48-28_882160379/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-48-28_882160379/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..aba59585325e460fed0bfcb3942bef0f82308040
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-48-28_882160379/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -66.62097457741015,
+            -228.50874849692067,
+            38.60417697283541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -65.12097457741015,
+            -231.106824708274,
+            38.60417697283541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -63.62097457741015,
+            -233.7049009196273,
+            38.60417697283541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -62.12097457741015,
+            -236.30297713098062,
+            38.60417697283541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -60.62097457741015,
+            -238.90105334233394,
+            38.60417697283541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -59.12097457741015,
+            -241.49912955368725,
+            38.60417697283541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -57.62097457741015,
+            -244.09720576504057,
+            38.60417697283541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -56.12097457741015,
+            -246.6952819763939,
+            38.60417697283541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -54.62097457741015,
+            -249.2933581877472,
+            38.60417697283541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -53.12097457741015,
+            -251.89143439910052,
+            38.60417697283541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -51.62097457741015,
+            -254.48951061045383,
+            38.60417697283541
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -50.12097457741015,
+            -257.0875868218071,
+            38.60417697283541
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -32.0,
+            -284.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-49-17_630668850/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-49-17_630668850/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8edaf3f8552c1dc343b9b725fefd80eeb7ac9983
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-49-17_630668850/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -53.251268122354276,
+            -284.7198450554292,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -51.751268122354276,
+            -282.12176884407586,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -50.251268122354276,
+            -279.52369263272254,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -48.751268122354276,
+            -276.9256164213692,
+            23.755052710839898
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -48.751268122354276,
+            -276.9256164213692,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -48.751268122354276,
+            -273.9256164213692,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -48.751268122354276,
+            -270.9256164213692,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -48.751268122354276,
+            -267.9256164213692,
+            23.755052710839898
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -48.751268122354276,
+            -267.9256164213692,
+            23.755052710839898
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -48.751268122354276,
+            -267.9256164213692,
+            23.755052710839898
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -48.751268122354276,
+            -267.9256164213692,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -45.751268122354276,
+            -267.9256164213692,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -42.751268122354276,
+            -267.9256164213692,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -39.751268122354276,
+            -267.9256164213692,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -36.751268122354276,
+            -267.9256164213692,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -33.751268122354276,
+            -267.9256164213692,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -30.751268122354276,
+            -267.9256164213692,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -27.751268122354276,
+            -267.9256164213692,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -24.751268122354276,
+            -267.9256164213692,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -21.751268122354276,
+            -267.9256164213692,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -18.751268122354276,
+            -267.9256164213692,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -15.751268122354276,
+            -267.9256164213692,
+            23.755052710839898
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -15.751268122354276,
+            -267.9256164213692,
+            23.755052710839898
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -15.751268122354276,
+            -267.9256164213692,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -14.251268122354276,
+            -270.52369263272254,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -12.751268122354276,
+            -273.12176884407586,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -11.251268122354276,
+            -275.7198450554292,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -9.751268122354276,
+            -278.3179212667825,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -8.251268122354276,
+            -280.9159974781358,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -6.751268122354276,
+            -283.5140736894891,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -5.251268122354276,
+            -286.11214990084244,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -3.751268122354275,
+            -288.71022611219576,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -2.2512681223542748,
+            -291.30830232354907,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -0.7512681223542743,
+            -293.9063785349024,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            0.7487318776457261,
+            -296.5044547462557,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            2.2487318776457266,
+            -299.102530957609,
+            23.755052710839898
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            2.2487318776457266,
+            -299.102530957609,
+            23.755052710839898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            4.846808088999042,
+            -300.602530957609,
+            23.755052710839898
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            28.0,
+            -308.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-49-37_246247255/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-49-37_246247255/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cbf16d1435d89be2675d48ad7b20c5a2d13b0827
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-49-37_246247255/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -81.51398562658058,
+            -237.73928886582195,
+            41.179091511924895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -78.51398562658058,
+            -237.73928886582195,
+            41.179091511924895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -75.51398562658058,
+            -237.73928886582195,
+            41.179091511924895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -72.51398562658058,
+            -237.73928886582195,
+            41.179091511924895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -69.51398562658058,
+            -237.73928886582195,
+            41.179091511924895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -66.51398562658058,
+            -237.73928886582195,
+            41.179091511924895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -63.51398562658058,
+            -237.73928886582195,
+            41.179091511924895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -60.51398562658058,
+            -237.73928886582195,
+            41.179091511924895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -57.51398562658058,
+            -237.73928886582195,
+            41.179091511924895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -54.51398562658058,
+            -237.73928886582195,
+            41.179091511924895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -51.51398562658058,
+            -237.73928886582195,
+            41.179091511924895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -48.51398562658058,
+            -237.73928886582195,
+            41.179091511924895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -45.51398562658058,
+            -237.73928886582195,
+            41.179091511924895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -42.51398562658058,
+            -237.73928886582195,
+            41.179091511924895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -39.51398562658058,
+            -237.73928886582195,
+            41.179091511924895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -36.51398562658058,
+            -237.73928886582195,
+            41.179091511924895
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -16.0,
+            -236.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-5-8_1139901474/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-5-8_1139901474/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..095f06595fd869f0b0f14f5506c73176babb9a0a
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-5-8_1139901474/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            44.31771231999559,
+            -274.5656110182971,
+            46.25112044164506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            45.81771231999559,
+            -271.9675348069438,
+            46.25112044164506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            47.31771231999559,
+            -269.36945859559046,
+            46.25112044164506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            48.81771231999559,
+            -266.77138238423714,
+            46.25112044164506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            50.31771231999559,
+            -264.1733061728838,
+            46.25112044164506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            51.81771231999559,
+            -261.5752299615305,
+            46.25112044164506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            53.31771231999559,
+            -258.9771537501772,
+            46.25112044164506
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            53.31771231999559,
+            -258.9771537501772,
+            46.25112044164506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            53.31771231999559,
+            -255.9771537501772,
+            46.25112044164506
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            53.31771231999559,
+            -255.9771537501772,
+            46.25112044164506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            54.81771231999559,
+            -253.37907753882388,
+            46.25112044164506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            56.31771231999559,
+            -250.78100132747056,
+            46.25112044164506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            57.81771231999559,
+            -248.18292511611725,
+            46.25112044164506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            59.31771231999559,
+            -245.58484890476393,
+            46.25112044164506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            60.81771231999559,
+            -242.98677269341061,
+            46.25112044164506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            62.31771231999559,
+            -240.3886964820573,
+            46.25112044164506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            63.81771231999559,
+            -237.79062027070398,
+            46.25112044164506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            65.3177123199956,
+            -235.19254405935067,
+            46.25112044164506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            66.8177123199956,
+            -232.59446784799735,
+            46.25112044164506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            68.3177123199956,
+            -229.99639163664403,
+            46.25112044164506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            69.8177123199956,
+            -227.39831542529072,
+            46.25112044164506
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            69.8177123199956,
+            -227.39831542529072,
+            46.25112044164506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            72.41578853134891,
+            -225.89831542529072,
+            46.25112044164506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            75.01386474270222,
+            -224.39831542529072,
+            46.25112044164506
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            88.0,
+            -204.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-50-48_2118421993/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-50-48_2118421993/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..77f68d6a151d43940b049748b03c02de0d3e5d71
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-50-48_2118421993/pose.jsonl
@@ -0,0 +1,106 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -105.45341109673336,
+            -240.51176956310806,
+            33.367541012040654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -103.95341109673336,
+            -237.91369335175474,
+            33.367541012040654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -102.45341109673336,
+            -235.31561714040143,
+            33.367541012040654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -100.95341109673336,
+            -232.7175409290481,
+            33.367541012040654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -99.45341109673336,
+            -230.1194647176948,
+            33.367541012040654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -97.95341109673336,
+            -227.52138850634148,
+            33.367541012040654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -96.45341109673336,
+            -224.92331229498816,
+            33.367541012040654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -72.0,
+            -188.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-50-56_1520223205/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-50-56_1520223205/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e136395666e98cd6bad9bdcbdd3b00c9e19b13a9
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-50-56_1520223205/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -49.97398294233048,
+            -282.9118890188972,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -49.97398294233048,
+            -279.9118890188972,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -49.97398294233048,
+            -276.9118890188972,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -49.97398294233048,
+            -273.9118890188972,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -49.97398294233048,
+            -270.9118890188972,
+            45.35175277384577
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -49.97398294233048,
+            -270.9118890188972,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -48.47398294233048,
+            -268.3138128075439,
+            45.35175277384577
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -48.47398294233048,
+            -268.3138128075439,
+            45.35175277384577
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -48.47398294233048,
+            -268.3138128075439,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.220446049250313e-16
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -45.47398294233048,
+            -268.3138128075439,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -42.47398294233048,
+            -268.3138128075439,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -39.47398294233048,
+            -268.3138128075439,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -36.47398294233048,
+            -268.3138128075439,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -33.47398294233048,
+            -268.3138128075439,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -30.47398294233048,
+            -268.3138128075439,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -27.47398294233048,
+            -268.3138128075439,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -24.47398294233048,
+            -268.3138128075439,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -21.47398294233048,
+            -268.3138128075439,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -18.47398294233048,
+            -268.3138128075439,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -15.47398294233048,
+            -268.3138128075439,
+            45.35175277384577
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -15.47398294233048,
+            -268.3138128075439,
+            45.35175277384577
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -15.47398294233048,
+            -268.3138128075439,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -13.97398294233048,
+            -270.9118890188972,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -12.47398294233048,
+            -273.50996523025054,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -10.97398294233048,
+            -276.10804144160386,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -9.47398294233048,
+            -278.7061176529572,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -7.97398294233048,
+            -281.3041938643105,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -6.47398294233048,
+            -283.9022700756638,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -4.97398294233048,
+            -286.5003462870171,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -3.4739829423304793,
+            -289.09842249837044,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1.9739829423304789,
+            -291.69649870972376,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -0.47398294233047844,
+            -294.29457492107707,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1.026017057669522,
+            -296.8926511324304,
+            45.35175277384577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            2.5260170576695224,
+            -299.4907273437837,
+            45.35175277384577
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            28.0,
+            -308.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-51-36_1017679567/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-51-36_1017679567/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ec93d16bab92f900f7ace1efc75c085d7c96255b
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-51-36_1017679567/pose.jsonl
@@ -0,0 +1,80 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -54.074226218494914,
+            -236.53442982637642,
+            25.79053018055938
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -54.074226218494914,
+            -233.53442982637642,
+            25.79053018055938
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -54.074226218494914,
+            -230.53442982637642,
+            25.79053018055938
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -54.074226218494914,
+            -227.53442982637642,
+            25.79053018055938
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -54.074226218494914,
+            -224.53442982637642,
+            25.79053018055938
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -36.0,
+            -152.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-52-49_1737518944/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-52-49_1737518944/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d75b1698893b9b9224a6df0e1fd5a04966ec2583
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-52-49_1737518944/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            243.1503913415167,
+            76.18586604508681,
+            45.07779249611947
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            245.74846755287,
+            77.68586604508681,
+            45.07779249611947
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            248.34654376422333,
+            79.18586604508681,
+            45.07779249611947
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            250.94461997557664,
+            80.68586604508681,
+            45.07779249611947
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            253.54269618692996,
+            82.18586604508681,
+            45.07779249611947
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            256.1407723982833,
+            83.68586604508681,
+            45.07779249611947
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            258.7388486096366,
+            85.18586604508681,
+            45.07779249611947
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            261.3369248209899,
+            86.68586604508681,
+            45.07779249611947
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            263.9350010323432,
+            88.18586604508681,
+            45.07779249611947
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            266.53307724369654,
+            89.68586604508681,
+            45.07779249611947
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            269.13115345504985,
+            91.18586604508681,
+            45.07779249611947
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            271.72922966640317,
+            92.68586604508681,
+            45.07779249611947
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            274.3273058777565,
+            94.18586604508681,
+            45.07779249611947
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            312.0,
+            116.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-53-15_110613202/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-53-15_110613202/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7c2d0061ca9f931007e9d2a1b1eec2d8769c94bc
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-53-15_110613202/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -100.58343937558237,
+            -138.10145010079867,
+            22.641701977704805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -103.18151558693569,
+            -136.60145010079867,
+            22.641701977704805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -105.779591798289,
+            -135.10145010079867,
+            22.641701977704805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -108.37766800964232,
+            -133.60145010079867,
+            22.641701977704805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -110.97574422099564,
+            -132.10145010079867,
+            22.641701977704805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -113.57382043234895,
+            -130.60145010079867,
+            22.641701977704805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -116.17189664370227,
+            -129.10145010079867,
+            22.641701977704805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -118.76997285505558,
+            -127.60145010079867,
+            22.641701977704805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -121.3680490664089,
+            -126.10145010079867,
+            22.641701977704805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -123.96612527776222,
+            -124.60145010079867,
+            22.641701977704805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -126.56420148911553,
+            -123.10145010079867,
+            22.641701977704805
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -126.56420148911553,
+            -123.10145010079867,
+            22.641701977704805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -128.06420148911553,
+            -120.50337388944536,
+            22.641701977704805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -129.56420148911553,
+            -117.90529767809204,
+            22.641701977704805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -131.06420148911553,
+            -115.30722146673872,
+            22.641701977704805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -132.56420148911553,
+            -112.70914525538541,
+            22.641701977704805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -134.06420148911553,
+            -110.11106904403209,
+            22.641701977704805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -135.56420148911553,
+            -107.51299283267878,
+            22.641701977704805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -137.06420148911553,
+            -104.91491662132546,
+            22.641701977704805
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -138.56420148911553,
+            -102.31684040997214,
+            22.641701977704805
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -164.0,
+            -76.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-54-38_950390868/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-54-38_950390868/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..801b87b35d0f66a26c44613ab75ac463bd7c67d7
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-54-38_950390868/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -211.9598648905193,
+            -142.5661371790691,
+            34.87534451366379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -210.4598648905193,
+            -139.9680609677158,
+            34.87534451366379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -208.9598648905193,
+            -137.36998475636247,
+            34.87534451366379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -207.4598648905193,
+            -134.77190854500915,
+            34.87534451366379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -205.9598648905193,
+            -132.17383233365584,
+            34.87534451366379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -204.4598648905193,
+            -129.57575612230252,
+            34.87534451366379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -202.9598648905193,
+            -126.9776799109492,
+            34.87534451366379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -201.4598648905193,
+            -124.37960369959589,
+            34.87534451366379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -199.9598648905193,
+            -121.78152748824257,
+            34.87534451366379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -198.4598648905193,
+            -119.18345127688926,
+            34.87534451366379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -196.9598648905193,
+            -116.58537506553594,
+            34.87534451366379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -195.4598648905193,
+            -113.98729885418263,
+            34.87534451366379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -193.9598648905193,
+            -111.38922264282931,
+            34.87534451366379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -192.4598648905193,
+            -108.791146431476,
+            34.87534451366379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -190.9598648905193,
+            -106.19307022012268,
+            34.87534451366379
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -190.9598648905193,
+            -106.19307022012268,
+            34.87534451366379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -188.36178867916598,
+            -104.69307022012268,
+            34.87534451366379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -185.76371246781267,
+            -103.19307022012268,
+            34.87534451366379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -183.16563625645935,
+            -101.69307022012268,
+            34.87534451366379
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -164.0,
+            -76.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-55-35_1137949908/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-55-35_1137949908/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..993b97b02b865cc7b67bd50d9f619b16492a8e7a
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-55-35_1137949908/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            87.78683271879684,
+            43.23922202767014,
+            23.2597344156801
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            90.38490893015016,
+            44.73922202767014,
+            23.2597344156801
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            92.98298514150348,
+            46.23922202767014,
+            23.2597344156801
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            95.58106135285679,
+            47.73922202767014,
+            23.2597344156801
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            98.17913756421011,
+            49.23922202767014,
+            23.2597344156801
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            100.77721377556342,
+            50.73922202767014,
+            23.2597344156801
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            103.37528998691674,
+            52.23922202767014,
+            23.2597344156801
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            103.37528998691674,
+            52.23922202767014,
+            23.2597344156801
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            104.87528998691674,
+            54.837298239023454,
+            23.2597344156801
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            106.37528998691674,
+            57.43537445037677,
+            23.2597344156801
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            107.87528998691674,
+            60.033450661730086,
+            23.2597344156801
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            109.37528998691674,
+            62.6315268730834,
+            23.2597344156801
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            110.87528998691674,
+            65.22960308443672,
+            23.2597344156801
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            112.37528998691674,
+            67.82767929579003,
+            23.2597344156801
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            113.87528998691674,
+            70.42575550714335,
+            23.2597344156801
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            115.37528998691674,
+            73.02383171849667,
+            23.2597344156801
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            116.87528998691674,
+            75.62190792984998,
+            23.2597344156801
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            116.87528998691674,
+            75.62190792984998,
+            23.2597344156801
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            119.47336619827006,
+            77.12190792984998,
+            23.2597344156801
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            122.07144240962337,
+            78.62190792984998,
+            23.2597344156801
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            148.0,
+            104.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-56-26_1908518808/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-56-26_1908518808/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d4fe36d51948ff7c0a711e62168a14a0929e6507
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-56-26_1908518808/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -206.96124804981727,
+            -164.476410351532,
+            24.906508754350888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -203.96124804981727,
+            -164.476410351532,
+            24.906508754350888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -200.96124804981727,
+            -164.476410351532,
+            24.906508754350888
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -200.96124804981727,
+            -164.476410351532,
+            24.906508754350888
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -200.96124804981727,
+            -164.476410351532,
+            24.906508754350888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -199.46124804981727,
+            -167.0744865628853,
+            24.906508754350888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -197.96124804981727,
+            -169.67256277423863,
+            24.906508754350888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -196.46124804981727,
+            -172.27063898559194,
+            24.906508754350888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -194.96124804981727,
+            -174.86871519694526,
+            24.906508754350888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -193.46124804981727,
+            -177.46679140829858,
+            24.906508754350888
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -191.96124804981727,
+            -180.0648676196519,
+            24.906508754350888
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -164.0,
+            -208.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-56-35_1023457753/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-56-35_1023457753/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ef24acdd8648a997a38c490af280df04fabf8a14
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-56-35_1023457753/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            58.39202525839566,
+            195.9957840988738,
+            21.122310303918283
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            58.39202525839566,
+            192.9957840988738,
+            21.122310303918283
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            58.39202525839566,
+            189.9957840988738,
+            21.122310303918283
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            58.39202525839566,
+            186.9957840988738,
+            21.122310303918283
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            58.39202525839566,
+            183.9957840988738,
+            21.122310303918283
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            58.39202525839566,
+            180.9957840988738,
+            21.122310303918283
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            58.39202525839566,
+            177.9957840988738,
+            21.122310303918283
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            58.39202525839566,
+            174.9957840988738,
+            21.122310303918283
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            58.39202525839566,
+            171.9957840988738,
+            21.122310303918283
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            58.39202525839566,
+            168.9957840988738,
+            21.122310303918283
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            58.39202525839566,
+            165.9957840988738,
+            21.122310303918283
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            58.39202525839566,
+            162.9957840988738,
+            21.122310303918283
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            58.39202525839566,
+            159.9957840988738,
+            21.122310303918283
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            58.39202525839566,
+            156.9957840988738,
+            21.122310303918283
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            60.0,
+            136.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-57-31_1329132133/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-57-31_1329132133/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7a9869a5c802621ecfcda0ceacfa01631a42d292
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-57-31_1329132133/pose.jsonl
@@ -0,0 +1,93 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -72.26207463989239,
+            -231.97933800501528,
+            30.451270167505452
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -69.66399842853907,
+            -230.47933800501528,
+            30.451270167505452
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -67.06592221718576,
+            -228.97933800501528,
+            30.451270167505452
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -64.46784600583244,
+            -227.47933800501528,
+            30.451270167505452
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -61.869769794479126,
+            -225.97933800501528,
+            30.451270167505452
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -59.27169358312581,
+            -224.47933800501528,
+            30.451270167505452
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            12.0,
+            -180.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-58-16_150517567/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-58-16_150517567/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3dfd9e2466ef630a67857669a5efcf19ca88299d
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-58-16_150517567/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            94.14874645170707,
+            -280.9988548804941,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            96.74682266306039,
+            -279.4988548804941,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            99.3448988744137,
+            -277.9988548804941,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            101.94297508576702,
+            -276.4988548804941,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            104.54105129712033,
+            -274.9988548804941,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            107.13912750847365,
+            -273.4988548804941,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            109.73720371982697,
+            -271.9988548804941,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            112.33527993118028,
+            -270.4988548804941,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            114.9333561425336,
+            -268.9988548804941,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            117.53143235388691,
+            -267.4988548804941,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            120.12950856524023,
+            -265.9988548804941,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            122.72758477659355,
+            -264.4988548804941,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            125.32566098794686,
+            -262.9988548804941,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            127.92373719930018,
+            -261.4988548804941,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            130.5218134106535,
+            -259.9988548804941,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            133.1198896220068,
+            -258.4988548804941,
+            23.145148159760996
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            133.1198896220068,
+            -258.4988548804941,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            134.6198896220068,
+            -255.90077866914078,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            136.1198896220068,
+            -253.30270245778746,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            137.6198896220068,
+            -250.70462624643415,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            139.1198896220068,
+            -248.10655003508083,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            140.6198896220068,
+            -245.5084738237275,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            142.1198896220068,
+            -242.9103976123742,
+            23.145148159760996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            143.6198896220068,
+            -240.31232140102088,
+            23.145148159760996
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            168.0,
+            -220.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-58-3_1781999754/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-58-3_1781999754/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..be19b0c34074b3c55ea270ee5dbb58c89974b553
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-58-3_1781999754/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            94.10605080470823,
+            124.08487397082018,
+            26.80544900948384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            91.50797459335492,
+            125.58487397082018,
+            26.80544900948384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            88.9098983820016,
+            127.08487397082018,
+            26.80544900948384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            86.31182217064828,
+            128.58487397082018,
+            26.80544900948384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            83.71374595929497,
+            130.08487397082018,
+            26.80544900948384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            81.11566974794165,
+            131.58487397082018,
+            26.80544900948384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            78.51759353658834,
+            133.08487397082018,
+            26.80544900948384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            75.91951732523502,
+            134.58487397082018,
+            26.80544900948384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            73.3214411138817,
+            136.08487397082018,
+            26.80544900948384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            70.72336490252839,
+            137.58487397082018,
+            26.80544900948384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            68.12528869117507,
+            139.08487397082018,
+            26.80544900948384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            65.52721247982176,
+            140.58487397082018,
+            26.80544900948384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            62.92913626846844,
+            142.08487397082018,
+            26.80544900948384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            60.331060057115124,
+            143.58487397082018,
+            26.80544900948384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            57.73298384576181,
+            145.08487397082018,
+            26.80544900948384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            55.13490763440849,
+            146.58487397082018,
+            26.80544900948384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            52.536831423055176,
+            148.08487397082018,
+            26.80544900948384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            49.93875521170186,
+            149.58487397082018,
+            26.80544900948384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            47.340679000348544,
+            151.08487397082018,
+            26.80544900948384
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            44.74260278899523,
+            152.58487397082018,
+            26.80544900948384
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            28.0,
+            164.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-58-58_364319529/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-58-58_364319529/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d31d1bd2028642232ec21dc2da77d2a989198102
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-58-58_364319529/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            117.39835638364748,
+            100.58101845362174,
+            43.83672203978208
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            114.80028017229417,
+            102.08101845362174,
+            43.83672203978208
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            112.20220396094085,
+            103.58101845362174,
+            43.83672203978208
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            109.60412774958753,
+            105.08101845362174,
+            43.83672203978208
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            107.00605153823422,
+            106.58101845362174,
+            43.83672203978208
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            104.4079753268809,
+            108.08101845362174,
+            43.83672203978208
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            101.80989911552759,
+            109.58101845362174,
+            43.83672203978208
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            99.21182290417427,
+            111.08101845362174,
+            43.83672203978208
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            96.61374669282095,
+            112.58101845362174,
+            43.83672203978208
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            94.01567048146764,
+            114.08101845362174,
+            43.83672203978208
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            91.41759427011432,
+            115.58101845362174,
+            43.83672203978208
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            88.819518058761,
+            117.08101845362174,
+            43.83672203978208
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            86.22144184740769,
+            118.58101845362174,
+            43.83672203978208
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            60.0,
+            136.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-59-48_1775473788/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-59-48_1775473788/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3360e8cfa512069b0c8516f262c822c7b182bf4a
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-59-48_1775473788/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -121.07439781188549,
+            -142.38311573988676,
+            21.2916236030043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -119.57439781188549,
+            -144.98119195124008,
+            21.2916236030043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -118.07439781188549,
+            -147.5792681625934,
+            21.2916236030043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -116.57439781188549,
+            -150.1773443739467,
+            21.2916236030043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -115.07439781188549,
+            -152.77542058530003,
+            21.2916236030043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -113.57439781188549,
+            -155.37349679665334,
+            21.2916236030043
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -113.57439781188549,
+            -155.37349679665334,
+            21.2916236030043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -110.97632160053217,
+            -156.87349679665334,
+            21.2916236030043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -108.37824538917886,
+            -158.37349679665334,
+            21.2916236030043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -105.78016917782554,
+            -159.87349679665334,
+            21.2916236030043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -103.18209296647223,
+            -161.37349679665334,
+            21.2916236030043
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -72.0,
+            -188.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-6-19_1884661237/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-6-19_1884661237/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fed455feba0a0e438e9aa57e2163b2f01d4487ac
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-6-19_1884661237/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -110.00969165813385,
+            47.24476641953245,
+            28.474532504254263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -107.00969165813385,
+            47.24476641953245,
+            28.474532504254263
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -107.00969165813385,
+            47.24476641953245,
+            28.474532504254263
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -107.00969165813385,
+            47.24476641953245,
+            28.474532504254263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -105.50969165813385,
+            49.84284263088577,
+            28.474532504254263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -104.00969165813385,
+            52.440918842239086,
+            28.474532504254263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -102.50969165813385,
+            55.0389950535924,
+            28.474532504254263
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -102.50969165813385,
+            55.0389950535924,
+            28.474532504254263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -99.91161544678053,
+            56.5389950535924,
+            28.474532504254263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -97.31353923542721,
+            58.0389950535924,
+            28.474532504254263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -94.7154630240739,
+            59.5389950535924,
+            28.474532504254263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -92.11738681272058,
+            61.0389950535924,
+            28.474532504254263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -89.51931060136727,
+            62.5389950535924,
+            28.474532504254263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -86.92123439001395,
+            64.0389950535924,
+            28.474532504254263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -84.32315817866063,
+            65.5389950535924,
+            28.474532504254263
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -84.32315817866063,
+            65.5389950535924,
+            28.474532504254263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -81.32315817866063,
+            65.5389950535924,
+            28.474532504254263
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -44.0,
+            88.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-6-31_1605908235/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-6-31_1605908235/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cebb2658cd51df6f4443f610ba1be259d4ba4136
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-6-31_1605908235/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -121.04084933511317,
+            158.78883520425347,
+            48.24161535550198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -119.54084933511317,
+            156.19075899290016,
+            48.24161535550198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -118.04084933511317,
+            153.59268278154684,
+            48.24161535550198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -116.54084933511317,
+            150.99460657019353,
+            48.24161535550198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -115.04084933511317,
+            148.3965303588402,
+            48.24161535550198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -113.54084933511317,
+            145.7984541474869,
+            48.24161535550198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -112.04084933511317,
+            143.20037793613358,
+            48.24161535550198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -110.54084933511317,
+            140.60230172478026,
+            48.24161535550198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -109.04084933511317,
+            138.00422551342695,
+            48.24161535550198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -107.54084933511317,
+            135.40614930207363,
+            48.24161535550198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -106.04084933511317,
+            132.8080730907203,
+            48.24161535550198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -104.54084933511317,
+            130.209996879367,
+            48.24161535550198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -103.04084933511317,
+            127.61192066801368,
+            48.24161535550198
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -88.0,
+            96.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-6-52_76065818/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-6-52_76065818/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4b48532ec841e23a53890f19c6d194107578da78
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-6-52_76065818/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -192.92864037532547,
+            -146.42453849571652,
+            48.59695738241812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -191.42864037532547,
+            -143.8264622843632,
+            48.59695738241812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -189.92864037532547,
+            -141.2283860730099,
+            48.59695738241812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -188.42864037532547,
+            -138.63030986165657,
+            48.59695738241812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -186.92864037532547,
+            -136.03223365030325,
+            48.59695738241812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -185.42864037532547,
+            -133.43415743894994,
+            48.59695738241812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -183.92864037532547,
+            -130.83608122759662,
+            48.59695738241812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -182.42864037532547,
+            -128.2380050162433,
+            48.59695738241812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -180.92864037532547,
+            -125.63992880488999,
+            48.59695738241812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -179.42864037532547,
+            -123.04185259353667,
+            48.59695738241812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -177.92864037532547,
+            -120.44377638218336,
+            48.59695738241812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -176.42864037532547,
+            -117.84570017083004,
+            48.59695738241812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -174.92864037532547,
+            -115.24762395947673,
+            48.59695738241812
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -174.92864037532547,
+            -115.24762395947673,
+            48.59695738241812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -174.92864037532547,
+            -112.24762395947673,
+            48.59695738241812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -174.92864037532547,
+            -109.24762395947673,
+            48.59695738241812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -174.92864037532547,
+            -106.24762395947673,
+            48.59695738241812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -174.92864037532547,
+            -103.24762395947673,
+            48.59695738241812
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -164.0,
+            -76.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-7-20_1789366143/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-7-20_1789366143/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5c38681d10bcb44d295a0cc19f535bf769a41aae
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-7-20_1789366143/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -195.7456676920387,
+            -247.78482199157668,
+            26.540597962254054
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -194.2456676920387,
+            -250.38289820293,
+            26.540597962254054
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -192.7456676920387,
+            -252.9809744142833,
+            26.540597962254054
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -191.2456676920387,
+            -255.57905062563663,
+            26.540597962254054
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -189.7456676920387,
+            -258.17712683698994,
+            26.540597962254054
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -188.2456676920387,
+            -260.77520304834326,
+            26.540597962254054
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -186.7456676920387,
+            -263.3732792596966,
+            26.540597962254054
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -185.2456676920387,
+            -265.9713554710499,
+            26.540597962254054
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -183.7456676920387,
+            -268.5694316824032,
+            26.540597962254054
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -182.2456676920387,
+            -271.1675078937565,
+            26.540597962254054
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -180.7456676920387,
+            -273.76558410510984,
+            26.540597962254054
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -164.0,
+            -300.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-7-4_1605894428/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-7-4_1605894428/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bf7fed0c923703440ebd9bfc9b304e00b1113c79
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-7-4_1605894428/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -214.02078132208254,
+            82.22494721941742,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -211.02078132208254,
+            82.22494721941742,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -208.02078132208254,
+            82.22494721941742,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -205.02078132208254,
+            82.22494721941742,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -202.02078132208254,
+            82.22494721941742,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -199.02078132208254,
+            82.22494721941742,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -196.02078132208254,
+            82.22494721941742,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -193.02078132208254,
+            82.22494721941742,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -190.02078132208254,
+            82.22494721941742,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -187.02078132208254,
+            82.22494721941742,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -184.02078132208254,
+            82.22494721941742,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -181.02078132208254,
+            82.22494721941742,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -178.02078132208254,
+            82.22494721941742,
+            25.982758705339716
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -178.02078132208254,
+            82.22494721941742,
+            25.982758705339716
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -178.02078132208254,
+            82.22494721941742,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -176.52078132208254,
+            84.82302343077073,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -175.02078132208254,
+            87.42109964212405,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -173.52078132208254,
+            90.01917585347736,
+            25.982758705339716
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -173.52078132208254,
+            90.01917585347736,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -170.92270511072923,
+            91.51917585347736,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -168.3246288993759,
+            93.01917585347736,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -165.7265526880226,
+            94.51917585347736,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -163.12847647666928,
+            96.01917585347736,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -160.53040026531596,
+            97.51917585347736,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -157.93232405396265,
+            99.01917585347736,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -155.33424784260933,
+            100.51917585347736,
+            25.982758705339716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -152.736171631256,
+            102.01917585347736,
+            25.982758705339716
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -136.0,
+            104.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-8-17_1784639529/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-8-17_1784639529/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..05b86f5d8dc03853e7247d897dae08bb98b06751
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-8-17_1784639529/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -84.01848347766632,
+            -243.62582103695357,
+            42.66795534633449
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -81.01848347766632,
+            -243.62582103695357,
+            42.66795534633449
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -78.01848347766632,
+            -243.62582103695357,
+            42.66795534633449
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -75.01848347766632,
+            -243.62582103695357,
+            42.66795534633449
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -72.01848347766632,
+            -243.62582103695357,
+            42.66795534633449
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -69.01848347766632,
+            -243.62582103695357,
+            42.66795534633449
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -66.01848347766632,
+            -243.62582103695357,
+            42.66795534633449
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -63.01848347766632,
+            -243.62582103695357,
+            42.66795534633449
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -60.01848347766632,
+            -243.62582103695357,
+            42.66795534633449
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -57.01848347766632,
+            -243.62582103695357,
+            42.66795534633449
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -54.01848347766632,
+            -243.62582103695357,
+            42.66795534633449
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -51.01848347766632,
+            -243.62582103695357,
+            42.66795534633449
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -48.01848347766632,
+            -243.62582103695357,
+            42.66795534633449
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -45.01848347766632,
+            -243.62582103695357,
+            42.66795534633449
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -42.01848347766632,
+            -243.62582103695357,
+            42.66795534633449
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -42.01848347766632,
+            -243.62582103695357,
+            42.66795534633449
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -39.420407266313006,
+            -242.12582103695357,
+            42.66795534633449
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -36.82233105495969,
+            -240.62582103695357,
+            42.66795534633449
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -16.0,
+            -236.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-9-26_1432114613/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-9-26_1432114613/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..845bcc44183f88246fa0b0e042cef06a4744b88c
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-9-26_1432114613/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -100.70597134200885,
+            -295.5171208750604,
+            43.07444853626216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -97.70597134200885,
+            -295.5171208750604,
+            43.07444853626216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -94.70597134200885,
+            -295.5171208750604,
+            43.07444853626216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -91.70597134200885,
+            -295.5171208750604,
+            43.07444853626216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -88.70597134200885,
+            -295.5171208750604,
+            43.07444853626216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -85.70597134200885,
+            -295.5171208750604,
+            43.07444853626216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -82.70597134200885,
+            -295.5171208750604,
+            43.07444853626216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -79.70597134200885,
+            -295.5171208750604,
+            43.07444853626216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -76.70597134200885,
+            -295.5171208750604,
+            43.07444853626216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -73.70597134200885,
+            -295.5171208750604,
+            43.07444853626216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -70.70597134200885,
+            -295.5171208750604,
+            43.07444853626216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -67.70597134200885,
+            -295.5171208750604,
+            43.07444853626216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -64.70597134200885,
+            -295.5171208750604,
+            43.07444853626216
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -64.70597134200885,
+            -295.5171208750604,
+            43.07444853626216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -62.107895130655535,
+            -294.0171208750604,
+            43.07444853626216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -59.50981891930222,
+            -292.5171208750604,
+            43.07444853626216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -56.9117427079489,
+            -291.0171208750604,
+            43.07444853626216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -54.31366649659559,
+            -289.5171208750604,
+            43.07444853626216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -51.71559028524227,
+            -288.0171208750604,
+            43.07444853626216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -49.117514073888955,
+            -286.5171208750604,
+            43.07444853626216
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -32.0,
+            -284.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-9-39_1067854538/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-9-39_1067854538/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..18bfd44f74201df7e705a2fd0e7fe229dd59800e
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-9-39_1067854538/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -172.45695769545776,
+            -55.58883665157599,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -169.45695769545776,
+            -55.58883665157599,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -166.45695769545776,
+            -55.58883665157599,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -163.45695769545776,
+            -55.58883665157599,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -160.45695769545776,
+            -55.58883665157599,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -157.45695769545776,
+            -55.58883665157599,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -154.45695769545776,
+            -55.58883665157599,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -151.45695769545776,
+            -55.58883665157599,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -148.45695769545776,
+            -55.58883665157599,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -145.45695769545776,
+            -55.58883665157599,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -142.45695769545776,
+            -55.58883665157599,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -139.45695769545776,
+            -55.58883665157599,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -136.45695769545776,
+            -55.58883665157599,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -133.45695769545776,
+            -55.58883665157599,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -130.45695769545776,
+            -55.58883665157599,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -127.45695769545776,
+            -55.58883665157599,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -124.45695769545776,
+            -55.58883665157599,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -121.45695769545776,
+            -55.58883665157599,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -118.45695769545776,
+            -55.58883665157599,
+            35.14204972261538
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -118.45695769545776,
+            -55.58883665157599,
+            35.14204972261538
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -118.45695769545776,
+            -55.58883665157599,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -116.95695769545776,
+            -52.99076044022267,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -115.45695769545776,
+            -50.392684228869356,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -113.95695769545776,
+            -47.79460801751604,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -112.45695769545776,
+            -45.196531806162724,
+            35.14204972261538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -110.95695769545776,
+            -42.59845559480941,
+            35.14204972261538
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -88.0,
+            -36.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-9-56_352118606/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-9-56_352118606/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5482ee8fe1412cdc0e19a569a5d1e61d86ed553a
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_17-9-56_352118606/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            48.82117453484844,
+            288.72885096764463,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            47.32117453484844,
+            286.1307747562913,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            45.82117453484844,
+            283.532698544938,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            44.32117453484844,
+            280.9346223335847,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            42.82117453484844,
+            278.33654612223137,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            41.32117453484844,
+            275.73846991087805,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            39.82117453484844,
+            273.14039369952474,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            38.32117453484844,
+            270.5423174881714,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            36.82117453484844,
+            267.9442412768181,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            35.32117453484844,
+            265.3461650654648,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            33.82117453484844,
+            262.7480888541115,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            32.32117453484844,
+            260.15001264275816,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            30.82117453484844,
+            257.55193643140484,
+            40.87497452064038
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            30.82117453484844,
+            257.55193643140484,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            30.82117453484844,
+            254.55193643140484,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            30.82117453484844,
+            251.55193643140484,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            30.82117453484844,
+            248.55193643140484,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            30.82117453484844,
+            245.55193643140484,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            30.82117453484844,
+            242.55193643140484,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            30.82117453484844,
+            239.55193643140484,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            30.82117453484844,
+            236.55193643140484,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            30.82117453484844,
+            233.55193643140484,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            30.82117453484844,
+            230.55193643140484,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            30.82117453484844,
+            227.55193643140484,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            30.82117453484844,
+            224.55193643140484,
+            40.87497452064038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            30.82117453484844,
+            221.55193643140484,
+            40.87497452064038
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            24.0,
+            200.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-0-42_1750003033/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-0-42_1750003033/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b10f12b23e45b94007face37a222377bcc74e53e
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-0-42_1750003033/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -63.841299207697126,
+            -255.57557075901292,
+            29.2748283081211
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931935
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -65.34129920769712,
+            -252.9774945476596,
+            29.2748283081211
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931935
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -66.84129920769712,
+            -250.3794183363063,
+            29.2748283081211
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -68.34129920769712,
+            -247.78134212495297,
+            29.2748283081211
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -69.84129920769712,
+            -245.18326591359966,
+            29.2748283081211
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -71.34129920769712,
+            -242.58518970224634,
+            29.2748283081211
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -72.84129920769712,
+            -239.98711349089302,
+            29.2748283081211
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -74.34129920769712,
+            -237.3890372795397,
+            29.2748283081211
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -75.84129920769712,
+            -234.7909610681864,
+            29.2748283081211
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -77.34129920769712,
+            -232.19288485683307,
+            29.2748283081211
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -78.84129920769712,
+            -229.59480864547976,
+            29.2748283081211
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -80.34129920769712,
+            -226.99673243412644,
+            29.2748283081211
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -80.34129920769712,
+            -226.99673243412644,
+            29.2748283081211
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -82.93937541905044,
+            -225.49673243412644,
+            29.2748283081211
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -85.53745163040375,
+            -223.99673243412644,
+            29.2748283081211
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -108.0,
+            -188.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-1-51_1344247686/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-1-51_1344247686/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e668a80b453c858777e9c6bce0dfb1262ff2a27e
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-1-51_1344247686/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -293.492234273627,
+            -109.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -293.492234273627,
+            -112.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -293.492234273627,
+            -115.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -293.492234273627,
+            -118.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -293.492234273627,
+            -121.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -293.492234273627,
+            -124.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -293.492234273627,
+            -127.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -293.492234273627,
+            -130.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -293.492234273627,
+            -133.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -293.492234273627,
+            -136.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -293.492234273627,
+            -139.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -293.492234273627,
+            -142.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -293.492234273627,
+            -145.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -293.492234273627,
+            -148.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -293.492234273627,
+            -151.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -293.492234273627,
+            -154.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -293.492234273627,
+            -157.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -293.492234273627,
+            -160.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -293.492234273627,
+            -163.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -293.492234273627,
+            -166.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -293.492234273627,
+            -169.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -293.492234273627,
+            -172.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -293.492234273627,
+            -175.39544685088364,
+            22.552319811756377
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -293.492234273627,
+            -175.39544685088364,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -294.992234273627,
+            -177.99352306223696,
+            22.552319811756377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -296.492234273627,
+            -180.59159927359028,
+            22.552319811756377
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -300.0,
+            -208.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-10-4_669908538/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-10-4_669908538/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ba43bf1204b055807581ddcd82ae0d9a4b8e4606
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-10-4_669908538/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            54.25205743350051,
+            -284.67134357414704,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            54.25205743350051,
+            -281.67134357414704,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            54.25205743350051,
+            -278.67134357414704,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            54.25205743350051,
+            -275.67134357414704,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            54.25205743350051,
+            -272.67134357414704,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            54.25205743350051,
+            -269.67134357414704,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            54.25205743350051,
+            -266.67134357414704,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            54.25205743350051,
+            -263.67134357414704,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            54.25205743350051,
+            -260.67134357414704,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            54.25205743350051,
+            -257.67134357414704,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            54.25205743350051,
+            -254.67134357414704,
+            49.90949232214447
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            54.25205743350051,
+            -254.67134357414704,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            55.75205743350051,
+            -252.07326736279373,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            57.25205743350051,
+            -249.4751911514404,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            58.75205743350051,
+            -246.8771149400871,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            60.25205743350051,
+            -244.27903872873378,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            61.75205743350051,
+            -241.68096251738046,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            63.25205743350051,
+            -239.08288630602715,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            64.75205743350051,
+            -236.48481009467383,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            66.25205743350051,
+            -233.88673388332052,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            67.75205743350051,
+            -231.2886576719672,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            69.25205743350051,
+            -228.69058146061388,
+            49.90949232214447
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            69.25205743350051,
+            -228.69058146061388,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            71.85013364485383,
+            -227.19058146061388,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            74.44820985620714,
+            -225.69058146061388,
+            49.90949232214447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            77.04628606756046,
+            -224.19058146061388,
+            49.90949232214447
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            88.0,
+            -204.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-2-32_474613996/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-2-32_474613996/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b06c242c0fb582247ee545751ba24973fc368851
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-2-32_474613996/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -173.64205036751497,
+            -251.7430865070591,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -171.04397415616165,
+            -250.2430865070591,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -168.44589794480834,
+            -248.7430865070591,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -165.84782173345502,
+            -247.2430865070591,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -163.2497455221017,
+            -245.7430865070591,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -160.6516693107484,
+            -244.2430865070591,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -158.05359309939507,
+            -242.7430865070591,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -155.45551688804176,
+            -241.2430865070591,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -152.85744067668844,
+            -239.7430865070591,
+            35.484514584738825
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -152.85744067668844,
+            -239.7430865070591,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -149.85744067668844,
+            -239.7430865070591,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -146.85744067668844,
+            -239.7430865070591,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -143.85744067668844,
+            -239.7430865070591,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -140.85744067668844,
+            -239.7430865070591,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -137.85744067668844,
+            -239.7430865070591,
+            35.484514584738825
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -137.85744067668844,
+            -239.7430865070591,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -135.25936446533512,
+            -238.2430865070591,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -132.6612882539818,
+            -236.7430865070591,
+            35.484514584738825
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -132.6612882539818,
+            -236.7430865070591,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -131.1612882539818,
+            -234.1450102957058,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -129.6612882539818,
+            -231.54693408435247,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -128.1612882539818,
+            -228.94885787299916,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -126.66128825398181,
+            -226.35078166164584,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -125.16128825398181,
+            -223.75270545029252,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -123.66128825398181,
+            -221.1546292389392,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -122.16128825398181,
+            -218.5565530275859,
+            35.484514584738825
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -122.16128825398181,
+            -218.5565530275859,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -122.16128825398181,
+            -215.5565530275859,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -122.16128825398181,
+            -212.5565530275859,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -122.16128825398181,
+            -209.5565530275859,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -122.16128825398181,
+            -206.5565530275859,
+            35.484514584738825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -122.16128825398181,
+            -203.5565530275859,
+            35.484514584738825
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -108.0,
+            -188.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-2-52_425245975/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-2-52_425245975/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ec32087b2f2ee5852386a570e36df81eebaa9d82
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-2-52_425245975/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -98.7363426284447,
+            -232.04253380753022,
+            29.20589687273381
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -95.7363426284447,
+            -232.04253380753022,
+            29.20589687273381
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -92.7363426284447,
+            -232.04253380753022,
+            29.20589687273381
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -89.7363426284447,
+            -232.04253380753022,
+            29.20589687273381
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -86.7363426284447,
+            -232.04253380753022,
+            29.20589687273381
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -83.7363426284447,
+            -232.04253380753022,
+            29.20589687273381
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -80.7363426284447,
+            -232.04253380753022,
+            29.20589687273381
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -77.7363426284447,
+            -232.04253380753022,
+            29.20589687273381
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -74.7363426284447,
+            -232.04253380753022,
+            29.20589687273381
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -71.7363426284447,
+            -232.04253380753022,
+            29.20589687273381
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -68.7363426284447,
+            -232.04253380753022,
+            29.20589687273381
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -65.7363426284447,
+            -232.04253380753022,
+            29.20589687273381
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -62.7363426284447,
+            -232.04253380753022,
+            29.20589687273381
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -59.7363426284447,
+            -232.04253380753022,
+            29.20589687273381
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -56.7363426284447,
+            -232.04253380753022,
+            29.20589687273381
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -53.7363426284447,
+            -232.04253380753022,
+            29.20589687273381
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -50.7363426284447,
+            -232.04253380753022,
+            29.20589687273381
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -47.7363426284447,
+            -232.04253380753022,
+            29.20589687273381
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -44.7363426284447,
+            -232.04253380753022,
+            29.20589687273381
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -41.7363426284447,
+            -232.04253380753022,
+            29.20589687273381
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -41.7363426284447,
+            -232.04253380753022,
+            29.20589687273381
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -39.13826641709139,
+            -233.54253380753022,
+            29.20589687273381
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -36.54019020573807,
+            -235.04253380753022,
+            29.20589687273381
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -16.0,
+            -236.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-3-7_1315209188/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-3-7_1315209188/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..11cd546550a86b8fe2818e174c98b9b438394dfe
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-3-7_1315209188/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -316.2770288114212,
+            -256.06566812030667,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -313.2770288114212,
+            -256.06566812030667,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -310.2770288114212,
+            -256.06566812030667,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -307.2770288114212,
+            -256.06566812030667,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -304.2770288114212,
+            -256.06566812030667,
+            41.56450024082158
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -304.2770288114212,
+            -256.06566812030667,
+            41.56450024082158
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -304.2770288114212,
+            -256.06566812030667,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -302.7770288114212,
+            -253.46759190895335,
+            41.56450024082158
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -302.7770288114212,
+            -253.46759190895335,
+            41.56450024082158
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -302.7770288114212,
+            -253.46759190895335,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.220446049250313e-16
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -299.7770288114212,
+            -253.46759190895335,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -296.7770288114212,
+            -253.46759190895335,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -293.7770288114212,
+            -253.46759190895335,
+            41.56450024082158
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -293.7770288114212,
+            -253.46759190895335,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -291.1789526000679,
+            -254.96759190895335,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -288.58087638871456,
+            -256.46759190895335,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -285.98280017736124,
+            -257.96759190895335,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -283.3847239660079,
+            -259.46759190895335,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -280.7866477546546,
+            -260.96759190895335,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -278.1885715433013,
+            -262.46759190895335,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -275.590495331948,
+            -263.96759190895335,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -272.99241912059466,
+            -265.46759190895335,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -270.39434290924135,
+            -266.96759190895335,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -267.79626669788803,
+            -268.46759190895335,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -265.1981904865347,
+            -269.96759190895335,
+            41.56450024082158
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -265.1981904865347,
+            -269.96759190895335,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -263.6981904865347,
+            -272.56566812030667,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -262.1981904865347,
+            -275.16374433166,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -260.6981904865347,
+            -277.7618205430133,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -259.1981904865347,
+            -280.3598967543666,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -257.6981904865347,
+            -282.95797296571993,
+            41.56450024082158
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -256.1981904865347,
+            -285.55604917707325,
+            41.56450024082158
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -228.0,
+            -300.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-6-28_332266748/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-6-28_332266748/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3d8fcfcaa297942bd7ac0ba7c8d6347172ef7a37
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-6-28_332266748/pose.jsonl
@@ -0,0 +1,132 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            140.63921068948767,
+            -284.51149927267625,
+            41.58169216139859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            142.13921068948767,
+            -287.10957548402956,
+            41.58169216139859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            143.63921068948767,
+            -289.7076516953829,
+            41.58169216139859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            145.13921068948767,
+            -292.3057279067362,
+            41.58169216139859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            146.63921068948767,
+            -294.9038041180895,
+            41.58169216139859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            148.13921068948767,
+            -297.5018803294428,
+            41.58169216139859
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            148.13921068948767,
+            -297.5018803294428,
+            41.58169216139859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            150.73728690084099,
+            -299.0018803294428,
+            41.58169216139859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            153.3353631121943,
+            -300.5018803294428,
+            41.58169216139859
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            192.0,
+            -352.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-7-13_820697697/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-7-13_820697697/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..096cc4d6d71c920309fcc118a83d6293df9bd5a2
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-7-13_820697697/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -187.21559782952437,
+            72.65717096827828,
+            30.030694725635186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -184.21559782952437,
+            72.65717096827828,
+            30.030694725635186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -181.21559782952437,
+            72.65717096827828,
+            30.030694725635186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -178.21559782952437,
+            72.65717096827828,
+            30.030694725635186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -175.21559782952437,
+            72.65717096827828,
+            30.030694725635186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -172.21559782952437,
+            72.65717096827828,
+            30.030694725635186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -169.21559782952437,
+            72.65717096827828,
+            30.030694725635186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -166.21559782952437,
+            72.65717096827828,
+            30.030694725635186
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -166.21559782952437,
+            72.65717096827828,
+            30.030694725635186
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -166.21559782952437,
+            72.65717096827828,
+            30.030694725635186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -164.71559782952437,
+            75.2552471796316,
+            30.030694725635186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -163.21559782952437,
+            77.85332339098491,
+            30.030694725635186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -161.71559782952437,
+            80.45139960233823,
+            30.030694725635186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -160.21559782952437,
+            83.04947581369154,
+            30.030694725635186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -158.71559782952437,
+            85.64755202504486,
+            30.030694725635186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -157.21559782952437,
+            88.24562823639818,
+            30.030694725635186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -155.71559782952437,
+            90.84370444775149,
+            30.030694725635186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -154.21559782952437,
+            93.44178065910481,
+            30.030694725635186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -152.71559782952437,
+            96.03985687045812,
+            30.030694725635186
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -136.0,
+            104.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-8-21_1186090428/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-8-21_1186090428/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..720bebf8e3a60217852064eec780dd6f72b1d39e
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-8-21_1186090428/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -151.42239263567564,
+            -111.60573255002784,
+            22.36500593483503
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -154.42239263567564,
+            -111.60573255002784,
+            22.36500593483503
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -157.42239263567564,
+            -111.60573255002784,
+            22.36500593483503
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -160.42239263567564,
+            -111.60573255002784,
+            22.36500593483503
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -163.42239263567564,
+            -111.60573255002784,
+            22.36500593483503
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -166.42239263567564,
+            -111.60573255002784,
+            22.36500593483503
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -169.42239263567564,
+            -111.60573255002784,
+            22.36500593483503
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -172.42239263567564,
+            -111.60573255002784,
+            22.36500593483503
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -175.42239263567564,
+            -111.60573255002784,
+            22.36500593483503
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -178.42239263567564,
+            -111.60573255002784,
+            22.36500593483503
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -181.42239263567564,
+            -111.60573255002784,
+            22.36500593483503
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -184.42239263567564,
+            -111.60573255002784,
+            22.36500593483503
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -187.42239263567564,
+            -111.60573255002784,
+            22.36500593483503
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -190.42239263567564,
+            -111.60573255002784,
+            22.36500593483503
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -193.42239263567564,
+            -111.60573255002784,
+            22.36500593483503
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -196.42239263567564,
+            -111.60573255002784,
+            22.36500593483503
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -196.42239263567564,
+            -111.60573255002784,
+            22.36500593483503
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -199.02046884702895,
+            -110.10573255002784,
+            22.36500593483503
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -201.61854505838227,
+            -108.60573255002784,
+            22.36500593483503
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -204.21662126973558,
+            -107.10573255002784,
+            22.36500593483503
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -206.8146974810889,
+            -105.60573255002784,
+            22.36500593483503
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -209.41277369244222,
+            -104.10573255002784,
+            22.36500593483503
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -212.01084990379553,
+            -102.60573255002784,
+            22.36500593483503
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -244.0,
+            -96.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-9-53_1498617647/pose.jsonl b/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-9-53_1498617647/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4124dc2ca0c0aded6cc8987f0e90f290e79126fc
--- /dev/null
+++ b/Image/env_airsim_23/astar_data/low_short/2025-1-2_18-9-53_1498617647/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -203.06346397613066,
+            -137.92184319891078,
+            41.353236353820336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -201.56346397613066,
+            -135.32376698755746,
+            41.353236353820336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -200.06346397613066,
+            -132.72569077620415,
+            41.353236353820336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -198.56346397613066,
+            -130.12761456485083,
+            41.353236353820336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -197.06346397613066,
+            -127.52953835349751,
+            41.353236353820336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -195.56346397613066,
+            -124.9314621421442,
+            41.353236353820336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -194.06346397613066,
+            -122.33338593079088,
+            41.353236353820336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -192.56346397613066,
+            -119.73530971943757,
+            41.353236353820336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -191.06346397613066,
+            -117.13723350808425,
+            41.353236353820336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -189.56346397613066,
+            -114.53915729673093,
+            41.353236353820336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -188.06346397613066,
+            -111.94108108537762,
+            41.353236353820336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -186.56346397613066,
+            -109.3430048740243,
+            41.353236353820336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -185.06346397613066,
+            -106.74492866267099,
+            41.353236353820336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -183.56346397613066,
+            -104.14685245131767,
+            41.353236353820336
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -182.06346397613066,
+            -101.54877623996435,
+            41.353236353820336
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -164.0,
+            -76.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}