diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-10-46_31308902/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-10-46_31308902/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e715b222f5399b6ec912adbb43f4b3ebe282b275
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-10-46_31308902/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            319.30574427235854,
+            -326.7738009726587,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            321.90382048371185,
+            -325.2738009726587,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            324.50189669506517,
+            -323.7738009726587,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            327.0999729064185,
+            -322.2738009726587,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            329.6980491177718,
+            -320.7738009726587,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            332.2961253291251,
+            -319.2738009726587,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            334.89420154047843,
+            -317.7738009726587,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            337.49227775183175,
+            -316.2738009726587,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            340.09035396318507,
+            -314.7738009726587,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            342.6884301745384,
+            -313.2738009726587,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            345.2865063858917,
+            -311.7738009726587,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            347.884582597245,
+            -310.2738009726587,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            350.48265880859833,
+            -308.7738009726587,
+            -4.941353497765389
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            350.48265880859833,
+            -308.7738009726587,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            351.98265880859833,
+            -306.1757247613054,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            353.48265880859833,
+            -303.5776485499521,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            354.98265880859833,
+            -300.97957233859876,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            356.48265880859833,
+            -298.38149612724544,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            357.98265880859833,
+            -295.7834199158921,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            359.48265880859833,
+            -293.1853437045388,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            360.98265880859833,
+            -290.5872674931855,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            362.48265880859833,
+            -287.9891912818322,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            363.98265880859833,
+            -285.39111507047886,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            365.48265880859833,
+            -282.79303885912555,
+            -4.941353497765389
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            366.98265880859833,
+            -280.19496264777223,
+            -4.941353497765389
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            368.39450302124027,
+            -279.85243492126466,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-11-0_816504794/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-11-0_816504794/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..263400774e046cef2c6c54d8a69e26a53d6a07e3
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-11-0_816504794/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            280.2181891506333,
+            201.8915249828731,
+            -5.921956125844419
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            278.7181891506333,
+            199.2934487715198,
+            -5.921956125844419
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            277.2181891506333,
+            196.69537256016648,
+            -5.921956125844419
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            275.7181891506333,
+            194.09729634881316,
+            -5.921956125844419
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            274.2181891506333,
+            191.49922013745984,
+            -5.921956125844419
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            272.7181891506333,
+            188.90114392610653,
+            -5.921956125844419
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            271.2181891506333,
+            186.3030677147532,
+            -5.921956125844419
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            269.7181891506333,
+            183.7049915033999,
+            -5.921956125844419
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            268.2181891506333,
+            181.10691529204658,
+            -5.921956125844419
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            266.7181891506333,
+            178.50883908069326,
+            -5.921956125844419
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            265.2181891506333,
+            175.91076286933995,
+            -5.921956125844419
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            263.7181891506333,
+            173.31268665798663,
+            -5.921956125844419
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            262.2181891506333,
+            170.71461044663332,
+            -5.921956125844419
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            260.7181891506333,
+            168.11653423528,
+            -5.921956125844419
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            259.2181891506333,
+            165.51845802392668,
+            -5.921956125844419
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            259.2181891506333,
+            165.51845802392668,
+            -5.921956125844419
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            259.2181891506333,
+            162.51845802392668,
+            -5.921956125844419
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            259.2181891506333,
+            159.51845802392668,
+            -5.921956125844419
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            259.2181891506333,
+            156.51845802392668,
+            -5.921956125844419
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            259.2181891506333,
+            153.51845802392668,
+            -5.921956125844419
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            259.2181891506333,
+            150.51845802392668,
+            -5.921956125844419
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            259.2181891506333,
+            147.51845802392668,
+            -5.921956125844419
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            259.2181891506333,
+            144.51845802392668,
+            -5.921956125844419
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            258.26647663116455,
+            142.7095600128174,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-17-4_402903177/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-17-4_402903177/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..35946f3771cf0905358649a85d7616a6ad21e197
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-17-4_402903177/pose.jsonl
@@ -0,0 +1,417 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            347.92580978304,
+            193.21033089262812,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            350.92580978304,
+            193.21033089262812,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            353.92580978304,
+            193.21033089262812,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            356.92580978304,
+            193.21033089262812,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            359.92580978304,
+            193.21033089262812,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            362.92580978304,
+            193.21033089262812,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            365.92580978304,
+            193.21033089262812,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            368.92580978304,
+            193.21033089262812,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            371.92580978304,
+            193.21033089262812,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            374.92580978304,
+            193.21033089262812,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            377.92580978304,
+            193.21033089262812,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            380.92580978304,
+            193.21033089262812,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            383.92580978304,
+            193.21033089262812,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            386.92580978304,
+            193.21033089262812,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            389.92580978304,
+            193.21033089262812,
+            -6.231968371418123
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            389.92580978304,
+            193.21033089262812,
+            -6.231968371418123
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            389.92580978304,
+            193.21033089262812,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            391.42580978304,
+            195.80840710398144,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            392.92580978304,
+            198.40648331533475,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            394.42580978304,
+            201.00455952668807,
+            -6.231968371418123
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            394.42580978304,
+            201.00455952668807,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            397.0238859943933,
+            202.50455952668807,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            399.6219622057466,
+            204.00455952668807,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            402.22003841709994,
+            205.50455952668807,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            404.81811462845326,
+            207.00455952668807,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            407.4161908398066,
+            208.50455952668807,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            410.0142670511599,
+            210.00455952668807,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            412.6123432625132,
+            211.50455952668807,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            415.2104194738665,
+            213.00455952668807,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            417.80849568521984,
+            214.50455952668807,
+            -6.231968371418123
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            420.40657189657315,
+            216.00455952668807,
+            -6.231968371418123
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            423.96591529846194,
+            214.72956275939944,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-24-55_2016764524/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-24-55_2016764524/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef84e8c1024c55679017007b8938221f653d9d3
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-24-55_2016764524/pose.jsonl
@@ -0,0 +1,79 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            970.3340136845502,
+            -322.73966315933444,
+            -3.5388176429463867
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            970.3340136845502,
+            -325.73966315933444,
+            -3.5388176429463867
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            970.3340136845502,
+            -328.73966315933444,
+            -3.5388176429463867
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            970.3340136845502,
+            -331.73966315933444,
+            -3.5388176429463867
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            970.3340136845502,
+            -334.73966315933444,
+            -3.5388176429463867
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            971.7509979248048,
+            -378.1575077056885,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-27-45_1707056552/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-27-45_1707056552/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..41b12402b7f2ad38d1c8722ce60d2fcfb7ad9e42
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-27-45_1707056552/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            291.776172746267,
+            -451.95610271841514,
+            -5.917883035973476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            291.776172746267,
+            -454.95610271841514,
+            -5.917883035973476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            291.776172746267,
+            -457.95610271841514,
+            -5.917883035973476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            291.776172746267,
+            -460.95610271841514,
+            -5.917883035973476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            291.776172746267,
+            -463.95610271841514,
+            -5.917883035973476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            291.776172746267,
+            -466.95610271841514,
+            -5.917883035973476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            291.776172746267,
+            -469.95610271841514,
+            -5.917883035973476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            291.776172746267,
+            -472.95610271841514,
+            -5.917883035973476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            291.776172746267,
+            -475.95610271841514,
+            -5.917883035973476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            291.776172746267,
+            -478.95610271841514,
+            -5.917883035973476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            291.776172746267,
+            -481.95610271841514,
+            -5.917883035973476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            291.776172746267,
+            -484.95610271841514,
+            -5.917883035973476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            291.776172746267,
+            -487.95610271841514,
+            -5.917883035973476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            291.776172746267,
+            -490.95610271841514,
+            -5.917883035973476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            291.776172746267,
+            -493.95610271841514,
+            -5.917883035973476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            291.776172746267,
+            -496.95610271841514,
+            -5.917883035973476
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            291.776172746267,
+            -496.95610271841514,
+            -5.917883035973476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            290.276172746267,
+            -499.55417892976845,
+            -5.917883035973476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            288.776172746267,
+            -502.15225514112177,
+            -5.917883035973476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            287.276172746267,
+            -504.7503313524751,
+            -5.917883035973476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            285.776172746267,
+            -507.3484075638284,
+            -5.917883035973476
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            283.3368732452393,
+            -507.865353012085,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-4-27_624549797/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-4-27_624549797/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..33d3324472b564cb47f94bd5d2a6baa5f58cf20a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-4-27_624549797/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1550.3502623489653,
+            -169.77042024751074,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1550.3502623489653,
+            -166.77042024751074,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1550.3502623489653,
+            -163.77042024751074,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1550.3502623489653,
+            -160.77042024751074,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1550.3502623489653,
+            -157.77042024751074,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1550.3502623489653,
+            -154.77042024751074,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1550.3502623489653,
+            -151.77042024751074,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1550.3502623489653,
+            -148.77042024751074,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1550.3502623489653,
+            -145.77042024751074,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1550.3502623489653,
+            -142.77042024751074,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1550.3502623489653,
+            -139.77042024751074,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1550.3502623489653,
+            -136.77042024751074,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1550.3502623489653,
+            -133.77042024751074,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1550.3502623489653,
+            -130.77042024751074,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1550.3502623489653,
+            -127.77042024751074,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1550.3502623489653,
+            -124.77042024751074,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1550.3502623489653,
+            -121.77042024751074,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1550.3502623489653,
+            -118.77042024751074,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1550.3502623489653,
+            -115.77042024751074,
+            -0.0478015261373681
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1550.3502623489653,
+            -115.77042024751074,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1551.8502623489653,
+            -113.17234403615743,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1553.3502623489653,
+            -110.57426782480411,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1554.8502623489653,
+            -107.9761916134508,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1556.3502623489653,
+            -105.37811540209748,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1557.8502623489653,
+            -102.78003919074416,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1559.3502623489653,
+            -100.18196297939085,
+            -0.0478015261373681
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1560.8502623489653,
+            -97.58388676803753,
+            -0.0478015261373681
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1559.5110931396484,
+            -96.07600393295289,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-41-57_1645933681/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-41-57_1645933681/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7759771ea7167bf83476aef028d84c9a1e62c0f8
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-41-57_1645933681/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            729.4945440539038,
+            -74.88289926306099,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            732.0926202652572,
+            -73.38289926306099,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            734.6906964766106,
+            -71.88289926306099,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            737.288772687964,
+            -70.38289926306099,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            739.8868488993173,
+            -68.88289926306099,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            742.4849251106707,
+            -67.38289926306099,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            745.0830013220241,
+            -65.88289926306099,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            747.6810775333774,
+            -64.38289926306099,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            750.2791537447308,
+            -62.88289926306099,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            752.8772299560842,
+            -61.38289926306099,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            755.4753061674376,
+            -59.88289926306099,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            758.0733823787909,
+            -58.38289926306099,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            760.6714585901443,
+            -56.88289926306099,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            763.2695348014977,
+            -55.38289926306099,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            765.8676110128511,
+            -53.88289926306099,
+            -9.334385683748225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            765.8676110128511,
+            -53.88289926306099,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            767.3676110128511,
+            -51.284823051707676,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            768.8676110128511,
+            -48.68674684035436,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            770.3676110128511,
+            -46.088670629001044,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            771.8676110128511,
+            -43.49059441764773,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            773.3676110128511,
+            -40.89251820629441,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            774.8676110128511,
+            -38.294441994941096,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            776.3676110128511,
+            -35.69636578358778,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            777.8676110128511,
+            -33.098289572234464,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            779.3676110128511,
+            -30.500213360881148,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            780.8676110128511,
+            -27.90213714952783,
+            -9.334385683748225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            782.3676110128511,
+            -25.304060938174516,
+            -9.334385683748225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            785.4496536254883,
+            -18.975487995147706,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-42-37_1635550270/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-42-37_1635550270/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1d87d4939b9928316e54a617ddafdfed876d5fe2
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-42-37_1635550270/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            246.38860277794728,
+            -164.89995222453095,
+            -1.961142388225495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            249.38860277794728,
+            -164.89995222453095,
+            -1.961142388225495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            252.38860277794728,
+            -164.89995222453095,
+            -1.961142388225495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            255.38860277794728,
+            -164.89995222453095,
+            -1.961142388225495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            258.3886027779473,
+            -164.89995222453095,
+            -1.961142388225495
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            258.3886027779473,
+            -164.89995222453095,
+            -1.961142388225495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            260.98667898930063,
+            -163.39995222453095,
+            -1.961142388225495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            263.58475520065394,
+            -161.89995222453095,
+            -1.961142388225495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            266.18283141200726,
+            -160.39995222453095,
+            -1.961142388225495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            268.7809076233606,
+            -158.89995222453095,
+            -1.961142388225495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            271.3789838347139,
+            -157.39995222453095,
+            -1.961142388225495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            273.9770600460672,
+            -155.89995222453095,
+            -1.961142388225495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            276.5751362574205,
+            -154.39995222453095,
+            -1.961142388225495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            279.17321246877384,
+            -152.89995222453095,
+            -1.961142388225495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            281.77128868012716,
+            -151.39995222453095,
+            -1.961142388225495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            284.3693648914805,
+            -149.89995222453095,
+            -1.961142388225495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            286.9674411028338,
+            -148.39995222453095,
+            -1.961142388225495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            289.5655173141871,
+            -146.89995222453095,
+            -1.961142388225495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            292.1635935255404,
+            -145.39995222453095,
+            -1.961142388225495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            294.76166973689374,
+            -143.89995222453095,
+            -1.961142388225495
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            294.76166973689374,
+            -143.89995222453095,
+            -1.961142388225495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            297.76166973689374,
+            -143.89995222453095,
+            -1.961142388225495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            300.76166973689374,
+            -143.89995222453095,
+            -1.961142388225495
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            320.9684103012085,
+            -137.41820926666261,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-44-26_773319847/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-44-26_773319847/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1ce7297b2009caf654fea318348bccc53bf94c6e
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-44-26_773319847/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -62.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -65.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -68.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -71.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -74.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -77.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -80.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -83.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -86.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -89.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -92.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -95.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -98.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -101.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -104.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -107.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -110.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -113.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -116.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -119.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -122.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -122.19500783009266,
+            -116.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -124.79308404144598,
+            -117.58063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -127.3911602527993,
+            -119.08063540883408,
+            -8.366726278809017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -129.9892364641526,
+            -120.58063540883408,
+            -8.366726278809017
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -133.47221508026124,
+            -121.93247375488282,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-12-9_1460082195/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-12-9_1460082195/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d33ec2bddeb32a0e4722e5594b1de99bc531315d
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-12-9_1460082195/pose.jsonl
@@ -0,0 +1,222 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1326.0320383538449,
+            -74.39961844101883,
+            -5.915192740313522
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1329.0320383538449,
+            -74.39961844101883,
+            -5.915192740313522
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1332.0320383538449,
+            -74.39961844101883,
+            -5.915192740313522
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1335.0320383538449,
+            -74.39961844101883,
+            -5.915192740313522
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1338.0320383538449,
+            -74.39961844101883,
+            -5.915192740313522
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1341.0320383538449,
+            -74.39961844101883,
+            -5.915192740313522
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1344.0320383538449,
+            -74.39961844101883,
+            -5.915192740313522
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1347.0320383538449,
+            -74.39961844101883,
+            -5.915192740313522
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1350.0320383538449,
+            -74.39961844101883,
+            -5.915192740313522
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1353.0320383538449,
+            -74.39961844101883,
+            -5.915192740313522
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1356.0320383538449,
+            -74.39961844101883,
+            -5.915192740313522
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1359.0320383538449,
+            -74.39961844101883,
+            -5.915192740313522
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1362.0320383538449,
+            -74.39961844101883,
+            -5.915192740313522
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1365.0320383538449,
+            -74.39961844101883,
+            -5.915192740313522
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1368.0320383538449,
+            -74.39961844101883,
+            -5.915192740313522
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1371.0320383538449,
+            -74.39961844101883,
+            -5.915192740313522
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1381.41708984375,
+            -76.18637247085572,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-15-41_1821066342/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-15-41_1821066342/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..305e960448128e87444a17b2ce3afff5067de18d
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-15-41_1821066342/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -187.14669842192765,
+            -99.03610107721673,
+            -5.9359729472421865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -187.14669842192765,
+            -102.03610107721673,
+            -5.9359729472421865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -187.14669842192765,
+            -105.03610107721673,
+            -5.9359729472421865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -187.14669842192765,
+            -108.03610107721673,
+            -5.9359729472421865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -187.14669842192765,
+            -111.03610107721673,
+            -5.9359729472421865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -187.14669842192765,
+            -114.03610107721673,
+            -5.9359729472421865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -187.14669842192765,
+            -117.03610107721673,
+            -5.9359729472421865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -187.14669842192765,
+            -120.03610107721673,
+            -5.9359729472421865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -187.14669842192765,
+            -123.03610107721673,
+            -5.9359729472421865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -187.14669842192765,
+            -126.03610107721673,
+            -5.9359729472421865
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -187.14669842192765,
+            -126.03610107721673,
+            -5.9359729472421865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -188.64669842192765,
+            -128.63417728857004,
+            -5.9359729472421865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -190.14669842192765,
+            -131.23225349992336,
+            -5.9359729472421865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -191.64669842192765,
+            -133.83032971127668,
+            -5.9359729472421865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -193.14669842192765,
+            -136.42840592263,
+            -5.9359729472421865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -194.64669842192765,
+            -139.0264821339833,
+            -5.9359729472421865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -196.14669842192765,
+            -141.62455834533662,
+            -5.9359729472421865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -197.64669842192765,
+            -144.22263455668994,
+            -5.9359729472421865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -199.14669842192765,
+            -146.82071076804326,
+            -5.9359729472421865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -200.64669842192765,
+            -149.41878697939657,
+            -5.9359729472421865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -202.14669842192765,
+            -152.0168631907499,
+            -5.9359729472421865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -203.64669842192765,
+            -154.6149394021032,
+            -5.9359729472421865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -205.14669842192765,
+            -157.21301561345652,
+            -5.9359729472421865
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -203.22534084320068,
+            -159.0278995513916,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-15-54_537322532/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-15-54_537322532/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..599c71dc12a53d8c73193a3302fc0b4996441963
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-15-54_537322532/pose.jsonl
@@ -0,0 +1,248 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1628.7199951079256,
+            -51.83536758005532,
+            -8.364007461662666
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1627.2199951079256,
+            -54.433443791408635,
+            -8.364007461662666
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1625.7199951079256,
+            -57.03152000276195,
+            -8.364007461662666
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1624.2199951079256,
+            -59.62959621411527,
+            -8.364007461662666
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1622.7199951079256,
+            -62.22767242546858,
+            -8.364007461662666
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1621.2199951079256,
+            -64.8257486368219,
+            -8.364007461662666
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1619.7199951079256,
+            -67.42382484817522,
+            -8.364007461662666
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1618.2199951079256,
+            -70.02190105952853,
+            -8.364007461662666
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1616.7199951079256,
+            -72.61997727088185,
+            -8.364007461662666
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1615.2199951079256,
+            -75.21805348223516,
+            -8.364007461662666
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1613.7199951079256,
+            -77.81612969358848,
+            -8.364007461662666
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1612.2199951079256,
+            -80.4142059049418,
+            -8.364007461662666
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1610.7199951079256,
+            -83.01228211629511,
+            -8.364007461662666
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1609.2199951079256,
+            -85.61035832764843,
+            -8.364007461662666
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1607.7199951079256,
+            -88.20843453900174,
+            -8.364007461662666
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1606.2199951079256,
+            -90.80651075035506,
+            -8.364007461662666
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1604.7199951079256,
+            -93.40458696170838,
+            -8.364007461662666
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1603.2199951079256,
+            -96.00266317306169,
+            -8.364007461662666
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1602.297836303711,
+            -98.12757396697998,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-24-42_207026272/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-24-42_207026272/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..75581f6a56838c7b808a7f26f5af23e6aa064ad6
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-24-42_207026272/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -165.88724109527203,
+            -201.90050849538608,
+            -0.3634127972895982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -167.38724109527203,
+            -199.30243228403276,
+            -0.3634127972895982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -168.88724109527203,
+            -196.70435607267945,
+            -0.3634127972895982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -170.38724109527203,
+            -194.10627986132613,
+            -0.3634127972895982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -171.88724109527203,
+            -191.5082036499728,
+            -0.3634127972895982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -173.38724109527203,
+            -188.9101274386195,
+            -0.3634127972895982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -174.88724109527203,
+            -186.31205122726618,
+            -0.3634127972895982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -176.38724109527203,
+            -183.71397501591287,
+            -0.3634127972895982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -177.88724109527203,
+            -181.11589880455955,
+            -0.3634127972895982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -179.38724109527203,
+            -178.51782259320623,
+            -0.3634127972895982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -180.88724109527203,
+            -175.91974638185292,
+            -0.3634127972895982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -182.38724109527203,
+            -173.3216701704996,
+            -0.3634127972895982
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -182.38724109527203,
+            -173.3216701704996,
+            -0.3634127972895982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -184.98531730662535,
+            -171.8216701704996,
+            -0.3634127972895982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -187.58339351797866,
+            -170.3216701704996,
+            -0.3634127972895982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -190.18146972933198,
+            -168.8216701704996,
+            -0.3634127972895982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -192.7795459406853,
+            -167.3216701704996,
+            -0.3634127972895982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -195.3776221520386,
+            -165.8216701704996,
+            -0.3634127972895982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -197.97569836339193,
+            -164.3216701704996,
+            -0.3634127972895982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -200.57377457474524,
+            -162.8216701704996,
+            -0.3634127972895982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -203.17185078609856,
+            -161.3216701704996,
+            -0.3634127972895982
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -203.22534084320068,
+            -159.0278995513916,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-32-43_1105816539/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-32-43_1105816539/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5b123d30191bff099cbf0a00637d908be0920e99
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-32-43_1105816539/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1265.9091133279687,
+            293.45617702378934,
+            -7.708545104648593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1264.4091133279687,
+            290.858100812436,
+            -7.708545104648593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1262.9091133279687,
+            288.2600246010827,
+            -7.708545104648593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1261.4091133279687,
+            285.6619483897294,
+            -7.708545104648593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1259.9091133279687,
+            283.0638721783761,
+            -7.708545104648593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1258.4091133279687,
+            280.46579596702276,
+            -7.708545104648593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1256.9091133279687,
+            277.86771975566944,
+            -7.708545104648593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1255.4091133279687,
+            275.2696435443161,
+            -7.708545104648593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1253.9091133279687,
+            272.6715673329628,
+            -7.708545104648593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1252.4091133279687,
+            270.0734911216095,
+            -7.708545104648593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1250.9091133279687,
+            267.4754149102562,
+            -7.708545104648593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1249.4091133279687,
+            264.87733869890286,
+            -7.708545104648593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1247.9091133279687,
+            262.27926248754954,
+            -7.708545104648593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1246.4091133279687,
+            259.68118627619623,
+            -7.708545104648593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1244.9091133279687,
+            257.0831100648429,
+            -7.708545104648593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1243.4091133279687,
+            254.4850338534896,
+            -7.708545104648593
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1243.4091133279687,
+            254.4850338534896,
+            -7.708545104648593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1243.4091133279687,
+            251.4850338534896,
+            -7.708545104648593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1243.4091133279687,
+            248.4850338534896,
+            -7.708545104648593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1243.4091133279687,
+            245.4850338534896,
+            -7.708545104648593
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1243.4091133279687,
+            242.4850338534896,
+            -7.708545104648593
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1243.735294342041,
+            241.00056648254397,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-47-12_1412277685/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-47-12_1412277685/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..540f88ec96929ec970386a9abc1a0db912b15d01
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-47-12_1412277685/pose.jsonl
@@ -0,0 +1,404 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            9.85726334764611,
+            -296.1289886851852,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            8.35726334764611,
+            -298.72706489653854,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            6.857263347646112,
+            -301.32514110789185,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            5.3572633476461125,
+            -303.92321731924517,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            3.8572633476461133,
+            -306.5212935305985,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            2.3572633476461142,
+            -309.1193697419518,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            0.8572633476461149,
+            -311.7174459533051,
+            -8.216740256620799
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            0.8572633476461149,
+            -311.7174459533051,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1.7408128637072011,
+            -313.2174459533051,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -4.338889075060517,
+            -314.7174459533051,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -6.936965286413833,
+            -316.2174459533051,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -9.53504149776715,
+            -317.7174459533051,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -12.133117709120466,
+            -319.2174459533051,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -14.731193920473782,
+            -320.7174459533051,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -17.329270131827098,
+            -322.2174459533051,
+            -8.216740256620799
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -17.329270131827098,
+            -322.2174459533051,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -18.829270131827098,
+            -324.81552216465843,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -20.329270131827098,
+            -327.41359837601175,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -21.829270131827098,
+            -330.01167458736506,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -23.329270131827098,
+            -332.6097507987184,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -24.829270131827098,
+            -335.2078270100717,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -26.329270131827098,
+            -337.805903221425,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -27.829270131827098,
+            -340.4039794327783,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -29.329270131827098,
+            -343.00205564413164,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -30.829270131827098,
+            -345.60013185548496,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -32.329270131827094,
+            -348.1982080668383,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -33.829270131827094,
+            -350.7962842781916,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -35.329270131827094,
+            -353.3943604895449,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -36.829270131827094,
+            -355.9924367008982,
+            -8.216740256620799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -38.329270131827094,
+            -358.59051291225154,
+            -8.216740256620799
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -37.04707775115967,
+            -360.1783214569092,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-48-7_1671735990/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-48-7_1671735990/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6ffa0609132218924400ad01b7b43cb6afca7b79
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-48-7_1671735990/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            147.30764541422965,
+            -481.3024798870766,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            145.80764541422965,
+            -483.9005560984299,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            144.30764541422965,
+            -486.4986323097832,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            142.80764541422965,
+            -489.0967085211365,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            141.30764541422965,
+            -491.69478473248984,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            139.80764541422965,
+            -494.29286094384315,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            138.30764541422965,
+            -496.89093715519647,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            136.80764541422965,
+            -499.4890133665498,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            135.30764541422965,
+            -502.0870895779031,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            133.80764541422965,
+            -504.6851657892564,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            132.30764541422965,
+            -507.28324200060973,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            130.80764541422965,
+            -509.88131821196305,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            129.30764541422965,
+            -512.4793944233163,
+            -6.62020079070799
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            129.30764541422965,
+            -512.4793944233163,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949063
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            129.30764541422965,
+            -515.4793944233163,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            129.30764541422965,
+            -518.4793944233163,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            129.30764541422965,
+            -521.4793944233163,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            129.30764541422965,
+            -524.4793944233163,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            129.30764541422965,
+            -527.4793944233163,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            129.30764541422965,
+            -530.4793944233163,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            129.30764541422965,
+            -533.4793944233163,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            129.30764541422965,
+            -536.4793944233163,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            129.30764541422965,
+            -539.4793944233163,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            129.30764541422965,
+            -542.4793944233163,
+            -6.62020079070799
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            129.30764541422965,
+            -545.4793944233163,
+            -6.62020079070799
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            127.09756164550782,
+            -547.6103538513185,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-54-6_1867107722/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-54-6_1867107722/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1f63cc3299d28e02c98cd4fd5014a1eebee1e2fa
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-54-6_1867107722/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            334.14355794058264,
+            -558.2742783241591,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            331.5454817292293,
+            -556.7742783241591,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            328.947405517876,
+            -555.2742783241591,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            326.3493293065227,
+            -553.7742783241591,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            323.7512530951694,
+            -552.2742783241591,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            321.15317688381606,
+            -550.7742783241591,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            318.55510067246274,
+            -549.2742783241591,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            315.9570244611094,
+            -547.7742783241591,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            313.3589482497561,
+            -546.2742783241591,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            310.7608720384028,
+            -544.7742783241591,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            308.1627958270495,
+            -543.2742783241591,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            305.56471961569616,
+            -541.7742783241591,
+            -1.0521056588127244
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            305.56471961569616,
+            -541.7742783241591,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            304.06471961569616,
+            -539.1762021128059,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            302.56471961569616,
+            -536.5781259014525,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            301.06471961569616,
+            -533.9800496900991,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            299.56471961569616,
+            -531.3819734787457,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            298.06471961569616,
+            -528.7838972673924,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            296.56471961569616,
+            -526.185821056039,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            295.06471961569616,
+            -523.5877448446856,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            293.56471961569616,
+            -520.9896686333323,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            292.06471961569616,
+            -518.3915924219789,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            290.56471961569616,
+            -515.7935162106255,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            289.06471961569616,
+            -513.1954399992721,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            287.56471961569616,
+            -510.5973637879188,
+            -1.0521056588127244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            286.06471961569616,
+            -507.9992875765655,
+            -1.0521056588127244
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            283.3368732452393,
+            -507.865353012085,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-59-41_1844400657/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-59-41_1844400657/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ca35d925369ca11a83b094fb784a3386508f0f70
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-59-41_1844400657/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            62.115845532394275,
+            154.74372554676359,
+            -2.7788086431912546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            65.11584553239427,
+            154.74372554676359,
+            -2.7788086431912546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            68.11584553239427,
+            154.74372554676359,
+            -2.7788086431912546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            71.11584553239427,
+            154.74372554676359,
+            -2.7788086431912546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            74.11584553239427,
+            154.74372554676359,
+            -2.7788086431912546
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            74.11584553239427,
+            154.74372554676359,
+            -2.7788086431912546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            76.71392174374759,
+            156.24372554676359,
+            -2.7788086431912546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            79.3119979551009,
+            157.74372554676359,
+            -2.7788086431912546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            81.91007416645422,
+            159.24372554676359,
+            -2.7788086431912546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            84.50815037780754,
+            160.74372554676359,
+            -2.7788086431912546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            87.10622658916085,
+            162.24372554676359,
+            -2.7788086431912546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            89.70430280051417,
+            163.74372554676359,
+            -2.7788086431912546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            92.30237901186749,
+            165.24372554676359,
+            -2.7788086431912546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            94.9004552232208,
+            166.74372554676359,
+            -2.7788086431912546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            97.49853143457412,
+            168.24372554676359,
+            -2.7788086431912546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            100.09660764592743,
+            169.74372554676359,
+            -2.7788086431912546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            102.69468385728075,
+            171.24372554676359,
+            -2.7788086431912546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            105.29276006863407,
+            172.74372554676359,
+            -2.7788086431912546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            107.89083627998738,
+            174.24372554676359,
+            -2.7788086431912546
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            108.78504695892335,
+            175.8657693862915,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-3-39_1434322197/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-3-39_1434322197/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..390c351ffe57e800618306b76055adcd3684f372
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-3-39_1434322197/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -152.28473915143468,
+            -61.336718899756384,
+            -3.094274323839363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -150.78473915143468,
+            -63.9347951111097,
+            -3.094274323839363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -149.28473915143468,
+            -66.53287132246302,
+            -3.094274323839363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196599
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -147.78473915143468,
+            -69.13094753381634,
+            -3.094274323839363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -146.28473915143468,
+            -71.72902374516966,
+            -3.094274323839363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -144.78473915143468,
+            -74.32709995652297,
+            -3.094274323839363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -143.28473915143468,
+            -76.92517616787629,
+            -3.094274323839363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -141.78473915143468,
+            -79.5232523792296,
+            -3.094274323839363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -140.28473915143468,
+            -82.12132859058292,
+            -3.094274323839363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -138.78473915143468,
+            -84.71940480193624,
+            -3.094274323839363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -137.28473915143468,
+            -87.31748101328955,
+            -3.094274323839363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -135.78473915143468,
+            -89.91555722464287,
+            -3.094274323839363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -134.28473915143468,
+            -92.51363343599618,
+            -3.094274323839363
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -134.28473915143468,
+            -92.51363343599618,
+            -3.094274323839363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -134.28473915143468,
+            -95.51363343599618,
+            -3.094274323839363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -134.28473915143468,
+            -98.51363343599618,
+            -3.094274323839363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -134.28473915143468,
+            -101.51363343599618,
+            -3.094274323839363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -134.28473915143468,
+            -104.51363343599618,
+            -3.094274323839363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -134.28473915143468,
+            -107.51363343599618,
+            -3.094274323839363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -134.28473915143468,
+            -110.51363343599618,
+            -3.094274323839363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -134.28473915143468,
+            -113.51363343599618,
+            -3.094274323839363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -134.28473915143468,
+            -116.51363343599618,
+            -3.094274323839363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -134.28473915143468,
+            -119.51363343599618,
+            -3.094274323839363
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -133.47221508026124,
+            -121.93247375488282,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-5-35_1446648412/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-5-35_1446648412/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c6c34c47192e5c49c8ea3f343b388aa9e8108816
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-5-35_1446648412/pose.jsonl
@@ -0,0 +1,222 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1431.844994584432,
+            131.9818205758827,
+            -0.9909374451033024
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1431.844994584432,
+            128.9818205758827,
+            -0.9909374451033024
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1431.844994584432,
+            125.9818205758827,
+            -0.9909374451033024
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1431.844994584432,
+            122.9818205758827,
+            -0.9909374451033024
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1431.844994584432,
+            119.9818205758827,
+            -0.9909374451033024
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1431.844994584432,
+            116.9818205758827,
+            -0.9909374451033024
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1431.844994584432,
+            113.9818205758827,
+            -0.9909374451033024
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1431.844994584432,
+            110.9818205758827,
+            -0.9909374451033024
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1431.844994584432,
+            107.9818205758827,
+            -0.9909374451033024
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1431.844994584432,
+            104.9818205758827,
+            -0.9909374451033024
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1431.844994584432,
+            101.9818205758827,
+            -0.9909374451033024
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1431.844994584432,
+            98.9818205758827,
+            -0.9909374451033024
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1431.844994584432,
+            95.9818205758827,
+            -0.9909374451033024
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1431.844994584432,
+            92.9818205758827,
+            -0.9909374451033024
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1431.844994584432,
+            89.9818205758827,
+            -0.9909374451033024
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1431.844994584432,
+            86.9818205758827,
+            -0.9909374451033024
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1432.5684967041016,
+            76.17316565513612,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-37-18_572660336/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-37-18_572660336/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..24f468f38e1a6d6b33eaecb01dd7016ceaca41b9
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-37-18_572660336/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -304.4149351782428,
+            -33.3682262705608,
+            -9.169201598438685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -305.9149351782428,
+            -35.96630248191411,
+            -9.169201598438685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -307.4149351782428,
+            -38.56437869326743,
+            -9.169201598438685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -308.9149351782428,
+            -41.162454904620745,
+            -9.169201598438685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -310.4149351782428,
+            -43.76053111597406,
+            -9.169201598438685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -311.9149351782428,
+            -46.35860732732738,
+            -9.169201598438685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -313.4149351782428,
+            -48.95668353868069,
+            -9.169201598438685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -314.9149351782428,
+            -51.55475975003401,
+            -9.169201598438685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -316.4149351782428,
+            -54.152835961387325,
+            -9.169201598438685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -317.9149351782428,
+            -56.75091217274064,
+            -9.169201598438685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -319.4149351782428,
+            -59.34898838409396,
+            -9.169201598438685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -320.9149351782428,
+            -61.94706459544727,
+            -9.169201598438685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -322.4149351782428,
+            -64.54514080680059,
+            -9.169201598438685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -323.9149351782428,
+            -67.1432170181539,
+            -9.169201598438685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -325.4149351782428,
+            -69.74129322950722,
+            -9.169201598438685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -326.9149351782428,
+            -72.33936944086054,
+            -9.169201598438685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -328.4149351782428,
+            -74.93744565221385,
+            -9.169201598438685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -329.9149351782428,
+            -77.53552186356717,
+            -9.169201598438685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -331.4149351782428,
+            -80.13359807492049,
+            -9.169201598438685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -332.9149351782428,
+            -82.7316742862738,
+            -9.169201598438685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -334.4149351782428,
+            -85.32975049762712,
+            -9.169201598438685
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -335.9149351782428,
+            -87.92782670898043,
+            -9.169201598438685
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -335.7922431945801,
+            -91.63226652145386,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-11-14_1172755590/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-11-14_1172755590/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..46f1721a0f1dab29930bcaf2bcfc6ffff29df23c
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-11-14_1172755590/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            258.9640937650037,
+            265.93045457017394,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            258.9640937650037,
+            262.93045457017394,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            258.9640937650037,
+            259.93045457017394,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            258.9640937650037,
+            256.93045457017394,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            258.9640937650037,
+            253.93045457017394,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            258.9640937650037,
+            250.93045457017394,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            258.9640937650037,
+            247.93045457017394,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            258.9640937650037,
+            244.93045457017394,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            258.9640937650037,
+            241.93045457017394,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            258.9640937650037,
+            238.93045457017394,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            258.9640937650037,
+            235.93045457017394,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            258.9640937650037,
+            232.93045457017394,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            258.9640937650037,
+            229.93045457017394,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            258.9640937650037,
+            226.93045457017394,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            258.9640937650037,
+            223.93045457017394,
+            -4.861565394630251
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            258.9640937650037,
+            223.93045457017394,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            257.4640937650037,
+            221.33237835882062,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            255.96409376500372,
+            218.7343021474673,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            254.46409376500372,
+            216.136225936114,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            252.96409376500372,
+            213.53814972476067,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            251.46409376500372,
+            210.94007351340736,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            249.96409376500372,
+            208.34199730205404,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            248.46409376500372,
+            205.74392109070072,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            246.96409376500372,
+            203.1458448793474,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            245.46409376500372,
+            200.5477686679941,
+            -4.861565394630251
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            243.96409376500372,
+            197.94969245664078,
+            -4.861565394630251
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            243.237640953064,
+            194.2933292388916,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-13-6_1820388464/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-13-6_1820388464/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0038ab31ff2a593a02ee3c8093b45d11384a0562
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-13-6_1820388464/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            49.00319416357604,
+            80.10912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            52.00319416357604,
+            80.10912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            55.00319416357604,
+            80.10912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            58.00319416357604,
+            80.10912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            61.00319416357604,
+            80.10912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            64.00319416357604,
+            80.10912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            67.00319416357604,
+            80.10912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            70.00319416357604,
+            80.10912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            73.00319416357604,
+            80.10912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            76.00319416357604,
+            80.10912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            79.00319416357604,
+            80.10912430604213,
+            -3.055061567990588
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            79.00319416357604,
+            80.10912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            81.60127037492936,
+            78.60912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            84.19934658628267,
+            77.10912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            86.79742279763599,
+            75.60912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            89.3954990089893,
+            74.10912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            91.99357522034262,
+            72.60912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            94.59165143169594,
+            71.10912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            97.18972764304925,
+            69.60912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            99.78780385440257,
+            68.10912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            102.38588006575588,
+            66.60912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            104.9839562771092,
+            65.10912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            107.58203248846252,
+            63.60912430604213,
+            -3.055061567990588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            110.18010869981583,
+            62.10912430604213,
+            -3.055061567990588
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            112.24056682586671,
+            60.22414054870606,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-25-27_1662739668/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-25-27_1662739668/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e9919c0f14b289488db38afc7867da364532d34b
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-25-27_1662739668/pose.jsonl
@@ -0,0 +1,118 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            220.69725110688034,
+            -94.661984367777,
+            -8.430898616675147
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            223.69725110688034,
+            -94.661984367777,
+            -8.430898616675147
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            226.69725110688034,
+            -94.661984367777,
+            -8.430898616675147
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            229.69725110688034,
+            -94.661984367777,
+            -8.430898616675147
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            232.69725110688034,
+            -94.661984367777,
+            -8.430898616675147
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            232.69725110688034,
+            -94.661984367777,
+            -8.430898616675147
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            232.69725110688034,
+            -94.661984367777,
+            -8.430898616675147
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            234.19725110688034,
+            -92.06390815642368,
+            -8.430898616675147
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            283.9780300140381,
+            -80.94869422912598,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-34-27_1307565984/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-34-27_1307565984/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..50021025ec0edd67d34d7936de7bec84000da065
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-34-27_1307565984/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            774.1147732811936,
+            43.9788525483678,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            772.6147732811936,
+            41.38077633701448,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            771.1147732811936,
+            38.782700125661165,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            769.6147732811936,
+            36.18462391430785,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            768.1147732811936,
+            33.58654770295453,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            766.6147732811936,
+            30.988471491601217,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            765.1147732811936,
+            28.3903952802479,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            763.6147732811936,
+            25.792319068894585,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            762.1147732811936,
+            23.19424285754127,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            760.6147732811936,
+            20.596166646187953,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            759.1147732811936,
+            17.998090434834637,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            757.6147732811936,
+            15.400014223481321,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            756.1147732811936,
+            12.801938012128005,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            754.6147732811936,
+            10.203861800774689,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            753.1147732811936,
+            7.605785589421373,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            751.6147732811936,
+            5.007709378068057,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            750.1147732811936,
+            2.409633166714741,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            748.6147732811936,
+            -0.18844304463857497,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            747.1147732811936,
+            -2.786519255991891,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            745.6147732811936,
+            -5.384595467345207,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            744.1147732811936,
+            -7.982671678698523,
+            -3.1651792814012216
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            744.1147732811936,
+            -7.982671678698523,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            741.5166970698403,
+            -9.482671678698523,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            738.918620858487,
+            -10.982671678698523,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            736.3205446471336,
+            -12.482671678698523,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            733.7224684357802,
+            -13.982671678698523,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            731.1243922244269,
+            -15.482671678698523,
+            -3.1651792814012216
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            728.5263160130735,
+            -16.982671678698523,
+            -3.1651792814012216
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            727.4186401367188,
+            -18.7204083442688,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-38-29_1343606042/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-38-29_1343606042/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c99a6ef329e29f2d95440b6c969ec539f01597ee
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-38-29_1343606042/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -105.13363104980766,
+            -342.6247650688132,
+            -4.029275379985995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -106.63363104980766,
+            -345.2228412801665,
+            -4.029275379985995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -108.13363104980766,
+            -347.8209174915198,
+            -4.029275379985995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -109.63363104980766,
+            -350.41899370287314,
+            -4.029275379985995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -111.13363104980766,
+            -353.01706991422645,
+            -4.029275379985995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -112.63363104980766,
+            -355.61514612557977,
+            -4.029275379985995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -114.13363104980766,
+            -358.2132223369331,
+            -4.029275379985995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -115.63363104980766,
+            -360.8112985482864,
+            -4.029275379985995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -117.13363104980766,
+            -363.4093747596397,
+            -4.029275379985995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -118.63363104980766,
+            -366.00745097099303,
+            -4.029275379985995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -120.13363104980766,
+            -368.60552718234635,
+            -4.029275379985995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -121.63363104980766,
+            -371.20360339369967,
+            -4.029275379985995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -123.13363104980766,
+            -373.801679605053,
+            -4.029275379985995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -124.63363104980766,
+            -376.3997558164063,
+            -4.029275379985995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -126.13363104980766,
+            -378.9978320277596,
+            -4.029275379985995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -127.63363104980766,
+            -381.59590823911293,
+            -4.029275379985995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -127.63363104980766,
+            -381.59590823911293,
+            -4.029275379985995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -127.63363104980766,
+            -384.59590823911293,
+            -4.029275379985995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -127.63363104980766,
+            -387.59590823911293,
+            -4.029275379985995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -127.63363104980766,
+            -390.59590823911293,
+            -4.029275379985995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -127.63363104980766,
+            -393.59590823911293,
+            -4.029275379985995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -127.63363104980766,
+            -396.59590823911293,
+            -4.029275379985995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -129.16454372406008,
+            -397.39995117187505,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-47-41_255789528/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-47-41_255789528/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d969448f1f0aef6b722986636cdce41d2a86bc7d
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-47-41_255789528/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            745.7572485149097,
+            -378.8690502567006,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            747.2572485149097,
+            -381.4671264680539,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            748.7572485149097,
+            -384.0652026794072,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            750.2572485149097,
+            -386.6632788907605,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            751.7572485149097,
+            -389.26135510211384,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            753.2572485149097,
+            -391.85943131346716,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            754.7572485149097,
+            -394.45750752482047,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            756.2572485149097,
+            -397.0555837361738,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            757.7572485149097,
+            -399.6536599475271,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            759.2572485149097,
+            -402.2517361588804,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            760.7572485149097,
+            -404.84981237023374,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            762.2572485149097,
+            -407.44788858158705,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            763.7572485149097,
+            -410.04596479294037,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            765.2572485149097,
+            -412.6440410042937,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            766.7572485149097,
+            -415.242117215647,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            768.2572485149097,
+            -417.8401934270003,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            769.7572485149097,
+            -420.43826963835363,
+            -9.19999963644297
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            769.7572485149097,
+            -420.43826963835363,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            769.7572485149097,
+            -423.43826963835363,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            769.7572485149097,
+            -426.43826963835363,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            769.7572485149097,
+            -429.43826963835363,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            769.7572485149097,
+            -432.43826963835363,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            769.7572485149097,
+            -435.43826963835363,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            769.7572485149097,
+            -438.43826963835363,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            769.7572485149097,
+            -441.43826963835363,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            769.7572485149097,
+            -444.43826963835363,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            769.7572485149097,
+            -447.43826963835363,
+            -9.19999963644297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            769.7572485149097,
+            -450.43826963835363,
+            -9.19999963644297
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            770.3367736816407,
+            -451.65129089355474,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-54-38_1795519125/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-54-38_1795519125/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..14a05c8ff754b7317f519fcf62820d2799f18fc1
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-54-38_1795519125/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1617.5140518144885,
+            -56.82605584179688,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1614.9159756031352,
+            -58.32605584179688,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1612.3178993917818,
+            -59.82605584179688,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1609.7198231804284,
+            -61.32605584179688,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1607.121746969075,
+            -62.82605584179688,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1604.5236707577217,
+            -64.32605584179687,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991506
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1601.9255945463683,
+            -65.82605584179687,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1599.327518335015,
+            -67.32605584179687,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1596.7294421236616,
+            -68.82605584179687,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1594.1313659123082,
+            -70.32605584179687,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1591.5332897009548,
+            -71.82605584179687,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1588.9352134896014,
+            -73.32605584179687,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1586.337137278248,
+            -74.82605584179687,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1583.7390610668947,
+            -76.32605584179687,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1581.1409848555413,
+            -77.82605584179687,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1578.542908644188,
+            -79.32605584179687,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1575.9448324328346,
+            -80.82605584179687,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1573.3467562214812,
+            -82.32605584179687,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1570.7486800101278,
+            -83.82605584179687,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1568.1506037987745,
+            -85.32605584179687,
+            -1.002761368817918
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1568.1506037987745,
+            -85.32605584179687,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1566.6506037987745,
+            -87.92413205315019,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1565.1506037987745,
+            -90.5222082645035,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1563.6506037987745,
+            -93.12028447585682,
+            -1.002761368817918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1562.1506037987745,
+            -95.71836068721014,
+            -1.002761368817918
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1559.5110931396484,
+            -96.07600393295289,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-16-49_885799631/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-16-49_885799631/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7f0e4baa04e97eb3fdec668eee61ef57f9251b94
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-16-49_885799631/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1000.4395317336036,
+            -220.803115129682,
+            -4.120497708029257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1003.4395317336036,
+            -220.803115129682,
+            -4.120497708029257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1006.4395317336036,
+            -220.803115129682,
+            -4.120497708029257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1009.4395317336036,
+            -220.803115129682,
+            -4.120497708029257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1012.4395317336036,
+            -220.803115129682,
+            -4.120497708029257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1015.4395317336036,
+            -220.803115129682,
+            -4.120497708029257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1018.4395317336036,
+            -220.803115129682,
+            -4.120497708029257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1021.4395317336036,
+            -220.803115129682,
+            -4.120497708029257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1024.4395317336036,
+            -220.803115129682,
+            -4.120497708029257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1027.4395317336036,
+            -220.803115129682,
+            -4.120497708029257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1030.4395317336036,
+            -220.803115129682,
+            -4.120497708029257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1033.4395317336036,
+            -220.803115129682,
+            -4.120497708029257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1036.4395317336036,
+            -220.803115129682,
+            -4.120497708029257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1039.4395317336036,
+            -220.803115129682,
+            -4.120497708029257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1042.4395317336036,
+            -220.803115129682,
+            -4.120497708029257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1045.4395317336036,
+            -220.803115129682,
+            -4.120497708029257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1048.4395317336036,
+            -220.803115129682,
+            -4.120497708029257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1051.4395317336036,
+            -220.803115129682,
+            -4.120497708029257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1054.4395317336036,
+            -220.803115129682,
+            -4.120497708029257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1057.4395317336036,
+            -220.803115129682,
+            -4.120497708029257
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1057.4395317336036,
+            -220.803115129682,
+            -4.120497708029257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1060.037607944957,
+            -222.303115129682,
+            -4.120497708029257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1062.6356841563104,
+            -223.803115129682,
+            -4.120497708029257
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1078.2823501586915,
+            -224.4462232589722,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-30-40_410228794/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-30-40_410228794/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6a5c23e288fe5009516cf5b2e5ed864d92bd2e06
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-30-40_410228794/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            866.8876511036918,
+            115.32359226233939,
+            -3.159817307787299
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            863.8876511036918,
+            115.32359226233939,
+            -3.159817307787299
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            860.8876511036918,
+            115.32359226233939,
+            -3.159817307787299
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            857.8876511036918,
+            115.32359226233939,
+            -3.159817307787299
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            854.8876511036918,
+            115.32359226233939,
+            -3.159817307787299
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            851.8876511036918,
+            115.32359226233939,
+            -3.159817307787299
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            848.8876511036918,
+            115.32359226233939,
+            -3.159817307787299
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            845.8876511036918,
+            115.32359226233939,
+            -3.159817307787299
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            842.8876511036918,
+            115.32359226233939,
+            -3.159817307787299
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            842.8876511036918,
+            115.32359226233939,
+            -3.159817307787299
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            840.2895748923386,
+            113.82359226233939,
+            -3.159817307787299
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            837.6914986809852,
+            112.32359226233939,
+            -3.159817307787299
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            835.0934224696318,
+            110.82359226233939,
+            -3.159817307787299
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            832.4953462582785,
+            109.32359226233939,
+            -3.159817307787299
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            829.8972700469251,
+            107.82359226233939,
+            -3.159817307787299
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            827.2991938355717,
+            106.32359226233939,
+            -3.159817307787299
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            824.7011176242183,
+            104.82359226233939,
+            -3.159817307787299
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            822.103041412865,
+            103.32359226233939,
+            -3.159817307787299
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            819.5049652015116,
+            101.82359226233939,
+            -3.159817307787299
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            816.9068889901582,
+            100.32359226233939,
+            -3.159817307787299
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            814.3088127788048,
+            98.82359226233939,
+            -3.159817307787299
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            793.9949005126954,
+            95.9690920829773,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-52-13_1269400346/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-52-13_1269400346/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..50baf1b8a41dfce03a1f6816ed319ac2d2b77acb
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-52-13_1269400346/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -132.46455904492862,
+            -671.4063283170383,
+            -9.508424253642671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -132.46455904492862,
+            -674.4063283170383,
+            -9.508424253642671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -132.46455904492862,
+            -677.4063283170383,
+            -9.508424253642671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -132.46455904492862,
+            -680.4063283170383,
+            -9.508424253642671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -132.46455904492862,
+            -683.4063283170383,
+            -9.508424253642671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -132.46455904492862,
+            -686.4063283170383,
+            -9.508424253642671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -132.46455904492862,
+            -689.4063283170383,
+            -9.508424253642671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -132.46455904492862,
+            -692.4063283170383,
+            -9.508424253642671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -132.46455904492862,
+            -695.4063283170383,
+            -9.508424253642671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -132.46455904492862,
+            -698.4063283170383,
+            -9.508424253642671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -132.46455904492862,
+            -701.4063283170383,
+            -9.508424253642671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -132.46455904492862,
+            -704.4063283170383,
+            -9.508424253642671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -132.46455904492862,
+            -707.4063283170383,
+            -9.508424253642671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -132.46455904492862,
+            -710.4063283170383,
+            -9.508424253642671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -132.46455904492862,
+            -713.4063283170383,
+            -9.508424253642671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -132.46455904492862,
+            -716.4063283170383,
+            -9.508424253642671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -132.46455904492862,
+            -719.4063283170383,
+            -9.508424253642671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -132.46455904492862,
+            -722.4063283170383,
+            -9.508424253642671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -132.46455904492862,
+            -725.4063283170383,
+            -9.508424253642671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -132.46455904492862,
+            -728.4063283170383,
+            -9.508424253642671
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -130.4267204284668,
+            -730.7557357788087,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-53-31_1265122573/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-53-31_1265122573/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..565073e3fd2246334e002d7ac96041d08203d56e
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-53-31_1265122573/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            175.31657619512518,
+            212.0357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            172.71849998377186,
+            210.5357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            170.12042377241855,
+            209.0357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            167.52234756106523,
+            207.5357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            164.92427134971192,
+            206.0357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            162.3261951383586,
+            204.5357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            159.72811892700528,
+            203.0357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            157.13004271565197,
+            201.5357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            154.53196650429865,
+            200.0357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            151.93389029294534,
+            198.5357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            149.33581408159202,
+            197.0357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            146.7377378702387,
+            195.5357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            144.1396616588854,
+            194.0357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            141.54158544753207,
+            192.5357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            138.94350923617876,
+            191.0357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            136.34543302482544,
+            189.5357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            133.74735681347212,
+            188.0357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            131.1492806021188,
+            186.5357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            128.5512043907655,
+            185.0357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            125.95312817941218,
+            183.5357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            123.35505196805886,
+            182.0357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            120.75697575670554,
+            180.5357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            118.15889954535223,
+            179.0357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            115.56082333399891,
+            177.5357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            112.9627471226456,
+            176.0357404023082,
+            -9.131023936532488
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            110.36467091129228,
+            174.5357404023082,
+            -9.131023936532488
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            108.78504695892335,
+            175.8657693862915,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-57-50_35756851/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-57-50_35756851/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d4666a4092e350522005dfd27638d2d6e476a2d2
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-57-50_35756851/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            206.46123589562407,
+            -595.4631622129674,
+            -0.9478425542904727
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            207.96123589562407,
+            -598.0612384243207,
+            -0.9478425542904727
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            209.46123589562407,
+            -600.659314635674,
+            -0.9478425542904727
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            210.96123589562407,
+            -603.2573908470274,
+            -0.9478425542904727
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            212.46123589562407,
+            -605.8554670583808,
+            -0.9478425542904727
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            213.96123589562407,
+            -608.4535432697342,
+            -0.9478425542904727
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            215.46123589562407,
+            -611.0516194810875,
+            -0.9478425542904727
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            216.96123589562407,
+            -613.6496956924409,
+            -0.9478425542904727
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            218.46123589562407,
+            -616.2477719037943,
+            -0.9478425542904727
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            219.96123589562407,
+            -618.8458481151476,
+            -0.9478425542904727
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            221.46123589562407,
+            -621.443924326501,
+            -0.9478425542904727
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            222.96123589562407,
+            -624.0420005378544,
+            -0.9478425542904727
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            224.46123589562407,
+            -626.6400767492078,
+            -0.9478425542904727
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            224.46123589562407,
+            -626.6400767492078,
+            -0.9478425542904727
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            227.0593121069774,
+            -628.1400767492078,
+            -0.9478425542904727
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            229.6573883183307,
+            -629.6400767492078,
+            -0.9478425542904727
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            232.25546452968402,
+            -631.1400767492078,
+            -0.9478425542904727
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            234.85354074103734,
+            -632.6400767492078,
+            -0.9478425542904727
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            237.45161695239065,
+            -634.1400767492078,
+            -0.9478425542904727
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            237.59388580322266,
+            -636.861552810669,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-12-26_2032454154/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-12-26_2032454154/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..754fff0800e397d6c88652e6f771789db555a9c0
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-12-26_2032454154/pose.jsonl
@@ -0,0 +1,105 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            578.4911844476017,
+            -5.745162667747884,
+            -7.1369382867612785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            579.9911844476017,
+            -3.147086456394568,
+            -7.1369382867612785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            581.4911844476017,
+            -0.5490102450412522,
+            -7.1369382867612785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            582.9911844476017,
+            2.049065966312064,
+            -7.1369382867612785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            584.4911844476017,
+            4.64714217766538,
+            -7.1369382867612785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            585.9911844476017,
+            7.245218389018696,
+            -7.1369382867612785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            587.4911844476017,
+            9.843294600372012,
+            -7.1369382867612785
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            611.1197254180909,
+            43.554152965545654,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-2-20_690367770/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-2-20_690367770/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9165116a4954edd02d86b3d52869a1ee402b99a1
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-2-20_690367770/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -149.8244111364803,
+            -126.19497321389979,
+            -1.0134331853808902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -152.42248734783362,
+            -127.69497321389979,
+            -1.0134331853808902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -155.02056355918694,
+            -129.19497321389977,
+            -1.0134331853808902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914984
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -157.61863977054026,
+            -130.69497321389977,
+            -1.0134331853808902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -160.21671598189357,
+            -132.19497321389977,
+            -1.0134331853808902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -162.8147921932469,
+            -133.69497321389977,
+            -1.0134331853808902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -165.4128684046002,
+            -135.19497321389977,
+            -1.0134331853808902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -168.01094461595352,
+            -136.69497321389977,
+            -1.0134331853808902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -170.60902082730684,
+            -138.19497321389977,
+            -1.0134331853808902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -173.20709703866015,
+            -139.69497321389977,
+            -1.0134331853808902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -175.80517325001347,
+            -141.19497321389977,
+            -1.0134331853808902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -178.40324946136678,
+            -142.69497321389977,
+            -1.0134331853808902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -181.0013256727201,
+            -144.19497321389977,
+            -1.0134331853808902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -183.59940188407342,
+            -145.69497321389977,
+            -1.0134331853808902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -186.19747809542673,
+            -147.19497321389977,
+            -1.0134331853808902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -188.79555430678005,
+            -148.69497321389977,
+            -1.0134331853808902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -191.39363051813336,
+            -150.19497321389977,
+            -1.0134331853808902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -193.99170672948668,
+            -151.69497321389977,
+            -1.0134331853808902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -196.58978294084,
+            -153.19497321389977,
+            -1.0134331853808902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -199.1878591521933,
+            -154.69497321389977,
+            -1.0134331853808902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -201.78593536354663,
+            -156.19497321389977,
+            -1.0134331853808902
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -203.22534084320068,
+            -159.0278995513916,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-21-45_180785147/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-21-45_180785147/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..df8fd8267e427ac7c80f1c6360af27d641214964
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-21-45_180785147/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1513.6051123913644,
+            40.142689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1511.007036180011,
+            38.642689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1508.4089599686577,
+            37.142689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1505.8108837573043,
+            35.642689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1503.212807545951,
+            34.142689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1500.6147313345975,
+            32.642689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1498.0166551232442,
+            31.142689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1495.4185789118908,
+            29.642689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1492.8205027005374,
+            28.142689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1490.222426489184,
+            26.642689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1487.6243502778307,
+            25.142689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1485.0262740664773,
+            23.642689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1482.428197855124,
+            22.142689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1479.8301216437706,
+            20.642689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1477.2320454324172,
+            19.142689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1474.6339692210638,
+            17.642689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1472.0358930097104,
+            16.142689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1469.437816798357,
+            14.642689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1466.8397405870037,
+            13.142689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1464.2416643756503,
+            11.642689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1461.643588164297,
+            10.142689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1459.0455119529436,
+            8.642689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1456.4474357415902,
+            7.142689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1453.8493595302368,
+            5.642689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1451.2512833188835,
+            4.142689991509485,
+            -8.942716989447105
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1448.65320710753,
+            2.642689991509485,
+            -8.942716989447105
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1448.3586029052735,
+            -0.4004184722900391,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-22-54_1862292122/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-22-54_1862292122/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f82828c34bc77cc19c603581132b4f4ca817bfea
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-22-54_1862292122/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -64.13787007984905,
+            -759.1180934368568,
+            -7.049373753704035
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -61.13787007984905,
+            -759.1180934368568,
+            -7.049373753704035
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -58.13787007984905,
+            -759.1180934368568,
+            -7.049373753704035
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -58.13787007984905,
+            -759.1180934368568,
+            -7.049373753704035
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -58.13787007984905,
+            -759.1180934368568,
+            -7.049373753704035
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -56.63787007984905,
+            -756.5200172255036,
+            -7.049373753704035
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -55.13787007984905,
+            -753.9219410141502,
+            -7.049373753704035
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -53.63787007984905,
+            -751.3238648027968,
+            -7.049373753704035
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -52.13787007984905,
+            -748.7257885914435,
+            -7.049373753704035
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -50.63787007984905,
+            -746.1277123800901,
+            -7.049373753704035
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -49.13787007984905,
+            -743.5296361687367,
+            -7.049373753704035
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -47.63787007984905,
+            -740.9315599573833,
+            -7.049373753704035
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -46.13787007984905,
+            -738.33348374603,
+            -7.049373753704035
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -44.63787007984905,
+            -735.7354075346766,
+            -7.049373753704035
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -43.13787007984905,
+            -733.1373313233232,
+            -7.049373753704035
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -43.13787007984905,
+            -733.1373313233232,
+            -7.049373753704035
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -40.539793868495735,
+            -731.6373313233232,
+            -7.049373753704035
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -37.94171765714242,
+            -730.1373313233232,
+            -7.049373753704035
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -35.3436414457891,
+            -728.6373313233232,
+            -7.049373753704035
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -32.74556523443579,
+            -727.1373313233232,
+            -7.049373753704035
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -30.14748902308247,
+            -725.6373313233232,
+            -7.049373753704035
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -27.698616790771485,
+            -723.4622337341309,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-30-35_1287859999/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-30-35_1287859999/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c98489e330c145aef71cf85b84ea7bc4ef6b9940
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-30-35_1287859999/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            936.1200879379151,
+            -442.7126331044486,
+            -2.6045221786050305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            937.6200879379151,
+            -440.1145568930953,
+            -2.6045221786050305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            939.1200879379151,
+            -437.516480681742,
+            -2.6045221786050305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            940.6200879379151,
+            -434.9184044703887,
+            -2.6045221786050305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            942.1200879379151,
+            -432.32032825903536,
+            -2.6045221786050305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            943.6200879379151,
+            -429.72225204768205,
+            -2.6045221786050305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            945.1200879379151,
+            -427.12417583632873,
+            -2.6045221786050305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            946.6200879379151,
+            -424.5260996249754,
+            -2.6045221786050305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            948.1200879379151,
+            -421.9280234136221,
+            -2.6045221786050305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            949.6200879379151,
+            -419.3299472022688,
+            -2.6045221786050305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            951.1200879379151,
+            -416.73187099091547,
+            -2.6045221786050305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            952.6200879379151,
+            -414.13379477956215,
+            -2.6045221786050305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            954.1200879379151,
+            -411.53571856820884,
+            -2.6045221786050305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            955.6200879379151,
+            -408.9376423568555,
+            -2.6045221786050305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            957.1200879379151,
+            -406.3395661455022,
+            -2.6045221786050305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            958.6200879379151,
+            -403.7414899341489,
+            -2.6045221786050305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            960.1200879379151,
+            -401.1434137227956,
+            -2.6045221786050305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            961.6200879379151,
+            -398.54533751144226,
+            -2.6045221786050305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            963.1200879379151,
+            -395.94726130008894,
+            -2.6045221786050305
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            971.7509979248048,
+            -378.1575077056885,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-33-35_580508860/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-33-35_580508860/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c56bdb88a6b63190af3e25faa1302c9bff431c47
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-33-35_580508860/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            774.8492902401613,
+            -428.90061702486423,
+            -4.949171788426245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            777.8492902401613,
+            -428.90061702486423,
+            -4.949171788426245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            780.8492902401613,
+            -428.90061702486423,
+            -4.949171788426245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            783.8492902401613,
+            -428.90061702486423,
+            -4.949171788426245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            786.8492902401613,
+            -428.90061702486423,
+            -4.949171788426245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            789.8492902401613,
+            -428.90061702486423,
+            -4.949171788426245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            792.8492902401613,
+            -428.90061702486423,
+            -4.949171788426245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            795.8492902401613,
+            -428.90061702486423,
+            -4.949171788426245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            798.8492902401613,
+            -428.90061702486423,
+            -4.949171788426245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            801.8492902401613,
+            -428.90061702486423,
+            -4.949171788426245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            804.8492902401613,
+            -428.90061702486423,
+            -4.949171788426245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            807.8492902401613,
+            -428.90061702486423,
+            -4.949171788426245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            810.8492902401613,
+            -428.90061702486423,
+            -4.949171788426245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            813.8492902401613,
+            -428.90061702486423,
+            -4.949171788426245
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            813.8492902401613,
+            -428.90061702486423,
+            -4.949171788426245
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            813.8492902401613,
+            -428.90061702486423,
+            -4.949171788426245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            815.3492902401613,
+            -426.3025408135109,
+            -4.949171788426245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            816.8492902401613,
+            -423.7044646021576,
+            -4.949171788426245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            818.3492902401613,
+            -421.1063883908043,
+            -4.949171788426245
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            833.5786102294923,
+            -416.10598869323735,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-35-51_1204754116/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-35-51_1204754116/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f19951e4144c5214728e173b32fd2aaf57553612
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-35-51_1204754116/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            761.7324388959908,
+            -60.96589325153944,
+            -1.5034720245979099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            760.2324388959908,
+            -58.367817040186125,
+            -1.5034720245979099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            758.7324388959908,
+            -55.76974082883281,
+            -1.5034720245979099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            757.2324388959908,
+            -53.17166461747949,
+            -1.5034720245979099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            755.7324388959908,
+            -50.57358840612618,
+            -1.5034720245979099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            754.2324388959908,
+            -47.97551219477286,
+            -1.5034720245979099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            752.7324388959908,
+            -45.377435983419545,
+            -1.5034720245979099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            751.2324388959908,
+            -42.77935977206623,
+            -1.5034720245979099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            749.7324388959908,
+            -40.18128356071291,
+            -1.5034720245979099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            748.2324388959908,
+            -37.5832073493596,
+            -1.5034720245979099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            746.7324388959908,
+            -34.98513113800628,
+            -1.5034720245979099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            745.2324388959908,
+            -32.387054926652965,
+            -1.5034720245979099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            743.7324388959908,
+            -29.78897871529965,
+            -1.5034720245979099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            742.2324388959908,
+            -27.190902503946333,
+            -1.5034720245979099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            740.7324388959908,
+            -24.592826292593017,
+            -1.5034720245979099
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            740.7324388959908,
+            -24.592826292593017,
+            -1.5034720245979099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            738.1343626846374,
+            -23.092826292593017,
+            -1.5034720245979099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            735.536286473284,
+            -21.592826292593017,
+            -1.5034720245979099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            732.9382102619306,
+            -20.092826292593017,
+            -1.5034720245979099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            730.3401340505773,
+            -18.592826292593017,
+            -1.5034720245979099
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            727.4186401367188,
+            -18.7204083442688,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-36-28_500037525/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-36-28_500037525/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d07fd94ffe4b9ee2e781e6a0e2435e0542d0a965
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-36-28_500037525/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -184.47104038988394,
+            -383.8530906273498,
+            -2.024620769220263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -185.97104038988394,
+            -386.4511668387031,
+            -2.024620769220263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -187.47104038988394,
+            -389.0492430500564,
+            -2.024620769220263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -188.97104038988394,
+            -391.64731926140973,
+            -2.024620769220263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -190.47104038988394,
+            -394.24539547276305,
+            -2.024620769220263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -191.97104038988394,
+            -396.84347168411637,
+            -2.024620769220263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -193.47104038988394,
+            -399.4415478954697,
+            -2.024620769220263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -194.97104038988394,
+            -402.039624106823,
+            -2.024620769220263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -196.47104038988394,
+            -404.6377003181763,
+            -2.024620769220263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -197.97104038988394,
+            -407.23577652952963,
+            -2.024620769220263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -199.47104038988394,
+            -409.83385274088295,
+            -2.024620769220263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -200.97104038988394,
+            -412.43192895223626,
+            -2.024620769220263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -202.47104038988394,
+            -415.0300051635896,
+            -2.024620769220263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -203.97104038988394,
+            -417.6280813749429,
+            -2.024620769220263
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -203.97104038988394,
+            -417.6280813749429,
+            -2.024620769220263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -203.97104038988394,
+            -420.6280813749429,
+            -2.024620769220263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -203.97104038988394,
+            -423.6280813749429,
+            -2.024620769220263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -203.97104038988394,
+            -426.6280813749429,
+            -2.024620769220263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -203.97104038988394,
+            -429.6280813749429,
+            -2.024620769220263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -203.97104038988394,
+            -432.6280813749429,
+            -2.024620769220263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -203.97104038988394,
+            -435.6280813749429,
+            -2.024620769220263
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -204.17917842864992,
+            -437.0482559204102,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-44-12_989241888/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-44-12_989241888/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7156b6efb19ae324ae9aeeda619fac453cb72b83
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-44-12_989241888/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            2.611536407471627,
+            -13.929097751530385,
+            -4.18529075499255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            4.111536407471627,
+            -16.5271739628837,
+            -4.18529075499255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            5.611536407471627,
+            -19.125250174237017,
+            -4.18529075499255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            7.111536407471627,
+            -21.723326385590333,
+            -4.18529075499255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            8.611536407471627,
+            -24.32140259694365,
+            -4.18529075499255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            10.111536407471627,
+            -26.919478808296965,
+            -4.18529075499255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            11.611536407471627,
+            -29.51755501965028,
+            -4.18529075499255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            13.111536407471627,
+            -32.1156312310036,
+            -4.18529075499255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            14.611536407471627,
+            -34.71370744235691,
+            -4.18529075499255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            16.11153640747163,
+            -37.31178365371023,
+            -4.18529075499255
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965972
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            16.11153640747163,
+            -37.31178365371023,
+            -4.18529075499255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948961
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            16.11153640747163,
+            -40.31178365371023,
+            -4.18529075499255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            16.11153640747163,
+            -43.31178365371023,
+            -4.18529075499255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            16.11153640747163,
+            -46.31178365371023,
+            -4.18529075499255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            16.11153640747163,
+            -49.31178365371023,
+            -4.18529075499255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            16.11153640747163,
+            -52.31178365371023,
+            -4.18529075499255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            16.11153640747163,
+            -55.31178365371023,
+            -4.18529075499255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            16.11153640747163,
+            -58.31178365371023,
+            -4.18529075499255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            16.11153640747163,
+            -61.31178365371023,
+            -4.18529075499255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            16.11153640747163,
+            -64.31178365371022,
+            -4.18529075499255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            16.11153640747163,
+            -67.31178365371022,
+            -4.18529075499255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            16.11153640747163,
+            -70.31178365371022,
+            -4.18529075499255
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            17.12450046539307,
+            -73.06071357727052,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-46-1_1031126087/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-46-1_1031126087/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4be5f3c54a2dfd0388c52e95ceaa3c6f147ec3ce
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-46-1_1031126087/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            8.008397361024542,
+            -641.3023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            5.410321149671226,
+            -639.8023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            2.8122449383179102,
+            -638.3023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            0.2141687269645942,
+            -636.8023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -2.383907484388722,
+            -635.3023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -4.981983695742038,
+            -633.8023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -7.580059907095354,
+            -632.3023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -10.17813611844867,
+            -630.8023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -12.776212329801986,
+            -629.3023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -15.374288541155302,
+            -627.8023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -17.972364752508618,
+            -626.3023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -20.570440963861934,
+            -624.8023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -23.16851717521525,
+            -623.3023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -25.766593386568566,
+            -621.8023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -28.364669597921882,
+            -620.3023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -30.962745809275198,
+            -618.8023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -33.560822020628514,
+            -617.3023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -36.15889823198183,
+            -615.8023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -38.756974443335146,
+            -614.3023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -41.35505065468846,
+            -612.8023468529543,
+            -9.071837304158363
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -41.35505065468846,
+            -612.8023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -44.35505065468846,
+            -612.8023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -47.35505065468846,
+            -612.8023468529543,
+            -9.071837304158363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -50.35505065468846,
+            -612.8023468529543,
+            -9.071837304158363
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -52.7497802734375,
+            -613.6590488433839,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-49-30_1664423428/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-49-30_1664423428/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4b4eec305c241f711f8ed71358729ff020cb7468
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-49-30_1664423428/pose.jsonl
@@ -0,0 +1,196 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            783.9249116148397,
+            43.42748642228356,
+            -9.688443542413005
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            783.9249116148397,
+            46.42748642228356,
+            -9.688443542413005
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            783.9249116148397,
+            49.42748642228356,
+            -9.688443542413005
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            783.9249116148397,
+            52.42748642228356,
+            -9.688443542413005
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            783.9249116148397,
+            55.42748642228356,
+            -9.688443542413005
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            783.9249116148397,
+            58.42748642228356,
+            -9.688443542413005
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            783.9249116148397,
+            61.42748642228356,
+            -9.688443542413005
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            783.9249116148397,
+            64.42748642228355,
+            -9.688443542413005
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            783.9249116148397,
+            64.42748642228355,
+            -9.688443542413005
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            785.4249116148397,
+            67.02556263363687,
+            -9.688443542413005
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            786.9249116148397,
+            69.62363884499018,
+            -9.688443542413005
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            788.4249116148397,
+            72.2217150563435,
+            -9.688443542413005
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            789.9249116148397,
+            74.81979126769681,
+            -9.688443542413005
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            791.4249116148397,
+            77.41786747905013,
+            -9.688443542413005
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            793.9949005126954,
+            95.9690920829773,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-58-29_771476364/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-58-29_771476364/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4dcbec2fd6ca37838f989651c6699aa542dc8726
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-58-29_771476364/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            77.02334569017121,
+            -44.55317245795371,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            75.52334569017121,
+            -41.95509624660039,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            74.02334569017121,
+            -39.357020035247075,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            72.52334569017121,
+            -36.75894382389376,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            71.02334569017121,
+            -34.16086761254044,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            69.52334569017121,
+            -31.562791401187127,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            68.02334569017121,
+            -28.96471518983381,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            66.52334569017121,
+            -26.366638978480495,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            65.02334569017121,
+            -23.76856276712718,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            63.52334569017121,
+            -21.170486555773863,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            62.02334569017121,
+            -18.572410344420547,
+            -5.125938017425278
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            62.02334569017121,
+            -18.572410344420547,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            59.425269478817896,
+            -17.072410344420547,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            56.82719326746458,
+            -15.572410344420547,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            54.229117056111264,
+            -14.072410344420547,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            51.63104084475795,
+            -12.572410344420547,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            49.03296463340463,
+            -11.072410344420547,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            46.434888422051316,
+            -9.572410344420547,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            43.836812210698,
+            -8.072410344420547,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            41.238735999344684,
+            -6.572410344420547,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            38.64065978799137,
+            -5.072410344420547,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            36.04258357663805,
+            -3.572410344420547,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            33.444507365284736,
+            -2.072410344420547,
+            -5.125938017425278
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            30.84643115393142,
+            -0.5724103444205471,
+            -5.125938017425278
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            31.34878616333008,
+            1.572951889038086,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-0-0_916018859/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-0-0_916018859/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2cd07bd1d9bd7859278a08cb3816ff79f1994aa2
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-0-0_916018859/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            125.67628571166544,
+            -474.6302905971113,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            124.17628571166544,
+            -472.032214385758,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            122.67628571166544,
+            -469.43413817440467,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            121.17628571166544,
+            -466.83606196305135,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            119.67628571166544,
+            -464.23798575169803,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            118.17628571166544,
+            -461.6399095403447,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            116.67628571166544,
+            -459.0418333289914,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            115.17628571166544,
+            -456.4437571176381,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            113.67628571166544,
+            -453.84568090628477,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            112.17628571166544,
+            -451.24760469493145,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            110.67628571166544,
+            -448.64952848357814,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            109.17628571166544,
+            -446.0514522722248,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            107.67628571166544,
+            -443.4533760608715,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            106.17628571166544,
+            -440.8552998495182,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            104.67628571166544,
+            -438.2572236381649,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            103.17628571166544,
+            -435.65914742681156,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            101.67628571166544,
+            -433.06107121545824,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            100.17628571166544,
+            -430.4629950041049,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            98.67628571166544,
+            -427.8649187927516,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            97.17628571166544,
+            -425.2668425813983,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            95.67628571166544,
+            -422.668766370045,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            94.17628571166544,
+            -420.07069015869166,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            92.67628571166544,
+            -417.47261394733835,
+            -4.118371167473706
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            92.67628571166544,
+            -417.47261394733835,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            92.67628571166544,
+            -414.47261394733835,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            92.67628571166544,
+            -411.47261394733835,
+            -4.118371167473706
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            92.67628571166544,
+            -408.47261394733835,
+            -4.118371167473706
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            90.3713176727295,
+            -405.9313674926758,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-42-23_359147515/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-42-23_359147515/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9e3277129f24e7f06d529d2aac19a65d082ee2cd
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-42-23_359147515/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            393.37877309734324,
+            -636.4891737360917,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            394.87877309734324,
+            -633.8910975247384,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            396.37877309734324,
+            -631.293021313385,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            397.87877309734324,
+            -628.6949451020316,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            399.37877309734324,
+            -626.0968688906783,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            400.87877309734324,
+            -623.4987926793249,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            402.37877309734324,
+            -620.9007164679715,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            403.87877309734324,
+            -618.3026402566181,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            405.37877309734324,
+            -615.7045640452648,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            406.87877309734324,
+            -613.1064878339114,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            408.37877309734324,
+            -610.508411622558,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            409.87877309734324,
+            -607.9103354112046,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            411.37877309734324,
+            -605.3122591998513,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            412.87877309734324,
+            -602.7141829884979,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            414.37877309734324,
+            -600.1161067771445,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            415.87877309734324,
+            -597.5180305657912,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            417.37877309734324,
+            -594.9199543544378,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            418.87877309734324,
+            -592.3218781430844,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            420.37877309734324,
+            -589.723801931731,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            421.87877309734324,
+            -587.1257257203777,
+            -2.233398427937429
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            421.87877309734324,
+            -587.1257257203777,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            424.47684930869656,
+            -585.6257257203777,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            427.0749255200499,
+            -584.1257257203777,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            429.6730017314032,
+            -582.6257257203777,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            432.2710779427565,
+            -581.1257257203777,
+            -2.233398427937429
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            434.8691541541098,
+            -579.6257257203777,
+            -2.233398427937429
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            437.9839408874512,
+            -578.2894577026368,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-5-28_991039875/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-5-28_991039875/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..04a84f84508bd11b443b3e5901a11642539bc824
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-5-28_991039875/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1208.980614259699,
+            170.54386625744095,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1210.480614259699,
+            173.14194246879427,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1211.980614259699,
+            175.74001868014759,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1213.480614259699,
+            178.3380948915009,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1214.980614259699,
+            180.93617110285422,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1216.480614259699,
+            183.53424731420753,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1217.980614259699,
+            186.13232352556085,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1219.480614259699,
+            188.73039973691417,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1220.980614259699,
+            191.32847594826748,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1222.480614259699,
+            193.9265521596208,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1223.980614259699,
+            196.5246283709741,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1225.480614259699,
+            199.12270458232743,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1226.980614259699,
+            201.72078079368075,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1228.480614259699,
+            204.31885700503406,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1229.980614259699,
+            206.91693321638738,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1231.480614259699,
+            209.5150094277407,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1232.980614259699,
+            212.113085639094,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1234.480614259699,
+            214.71116185044733,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1235.980614259699,
+            217.30923806180064,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1237.480614259699,
+            219.90731427315396,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1238.980614259699,
+            222.50539048450727,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1240.480614259699,
+            225.1034666958606,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1241.980614259699,
+            227.7015429072139,
+            -8.20229153702872
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1241.980614259699,
+            227.7015429072139,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1241.980614259699,
+            230.7015429072139,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1241.980614259699,
+            233.7015429072139,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1241.980614259699,
+            236.7015429072139,
+            -8.20229153702872
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1241.980614259699,
+            239.7015429072139,
+            -8.20229153702872
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1243.735294342041,
+            241.00056648254397,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-54-16_217161528/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-54-16_217161528/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7578d5030cf0243709df5732ae1d7296af826bf9
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-54-16_217161528/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1274.8811510852295,
+            -289.7560716466565,
+            -7.262637045253841
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1274.8811510852295,
+            -286.7560716466565,
+            -7.262637045253841
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1274.8811510852295,
+            -283.7560716466565,
+            -7.262637045253841
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1274.8811510852295,
+            -280.7560716466565,
+            -7.262637045253841
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1274.8811510852295,
+            -277.7560716466565,
+            -7.262637045253841
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1274.8811510852295,
+            -274.7560716466565,
+            -7.262637045253841
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1274.8811510852295,
+            -271.7560716466565,
+            -7.262637045253841
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1274.8811510852295,
+            -268.7560716466565,
+            -7.262637045253841
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1274.8811510852295,
+            -265.7560716466565,
+            -7.262637045253841
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1274.8811510852295,
+            -262.7560716466565,
+            -7.262637045253841
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1274.8811510852295,
+            -259.7560716466565,
+            -7.262637045253841
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1274.8811510852295,
+            -256.7560716466565,
+            -7.262637045253841
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1274.8811510852295,
+            -253.7560716466565,
+            -7.262637045253841
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1274.8811510852295,
+            -250.7560716466565,
+            -7.262637045253841
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1274.8811510852295,
+            -247.7560716466565,
+            -7.262637045253841
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1274.8811510852295,
+            -244.7560716466565,
+            -7.262637045253841
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1274.8811510852295,
+            -241.7560716466565,
+            -7.262637045253841
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1274.8811510852295,
+            -238.7560716466565,
+            -7.262637045253841
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1274.8811510852295,
+            -235.7560716466565,
+            -7.262637045253841
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1273.901252746582,
+            -233.9151123046875,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-54-53_177332700/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-54-53_177332700/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eafdba2bf0ebb01a9b3da1a4922cc681517ed8ec
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-54-53_177332700/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            500.4391237049464,
+            -531.6765625675433,
+            -5.6872371898351854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            497.84104749359307,
+            -530.1765625675433,
+            -5.6872371898351854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            495.24297128223975,
+            -528.6765625675433,
+            -5.6872371898351854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            492.64489507088643,
+            -527.1765625675433,
+            -5.6872371898351854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            490.0468188595331,
+            -525.6765625675433,
+            -5.6872371898351854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            487.4487426481798,
+            -524.1765625675433,
+            -5.6872371898351854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            484.8506664368265,
+            -522.6765625675433,
+            -5.6872371898351854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            482.25259022547317,
+            -521.1765625675433,
+            -5.6872371898351854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            479.65451401411985,
+            -519.6765625675433,
+            -5.6872371898351854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            477.05643780276654,
+            -518.1765625675433,
+            -5.6872371898351854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            474.4583615914132,
+            -516.6765625675433,
+            -5.6872371898351854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            471.8602853800599,
+            -515.1765625675433,
+            -5.6872371898351854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            469.2622091687066,
+            -513.6765625675433,
+            -5.6872371898351854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            466.6641329573533,
+            -512.1765625675433,
+            -5.6872371898351854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            464.06605674599996,
+            -510.67656256754333,
+            -5.6872371898351854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            461.46798053464664,
+            -509.17656256754333,
+            -5.6872371898351854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            458.8699043232933,
+            -507.67656256754333,
+            -5.6872371898351854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            456.27182811194,
+            -506.17656256754333,
+            -5.6872371898351854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            453.6737519005867,
+            -504.67656256754333,
+            -5.6872371898351854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            451.0756756892334,
+            -503.17656256754333,
+            -5.6872371898351854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            448.47759947788006,
+            -501.67656256754333,
+            -5.6872371898351854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            445.87952326652675,
+            -500.17656256754333,
+            -5.6872371898351854
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            443.92731246948244,
+            -500.4978652954102,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-13-25_848934683/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-13-25_848934683/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..66d2f17ad83c8a956dd2d7cca733366dac863c8e
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-13-25_848934683/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            513.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            510.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            507.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            504.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            501.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            498.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            495.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            492.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            489.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            486.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            483.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            480.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            477.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            474.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            471.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            468.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            465.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            462.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            459.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            456.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            453.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            450.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            447.4003790096863,
+            -499.5026711360124,
+            -7.786320020509076
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            443.92731246948244,
+            -500.4978652954102,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-28-2_2089816339/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-28-2_2089816339/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..158d39b61eb9bbcadba70321e45a1a679037f88d
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-28-2_2089816339/pose.jsonl
@@ -0,0 +1,170 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1006.0639777605796,
+            -182.41936062610003,
+            -6.9887209387211175
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1004.5639777605796,
+            -185.01743683745335,
+            -6.9887209387211175
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1003.0639777605796,
+            -187.61551304880666,
+            -6.9887209387211175
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1001.5639777605796,
+            -190.21358926015998,
+            -6.9887209387211175
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1000.0639777605796,
+            -192.8116654715133,
+            -6.9887209387211175
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            998.5639777605796,
+            -195.4097416828666,
+            -6.9887209387211175
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            998.5639777605796,
+            -195.4097416828666,
+            -6.9887209387211175
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            998.5639777605796,
+            -198.4097416828666,
+            -6.9887209387211175
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            998.5639777605796,
+            -201.4097416828666,
+            -6.9887209387211175
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            998.5639777605796,
+            -204.4097416828666,
+            -6.9887209387211175
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            998.5639777605796,
+            -207.4097416828666,
+            -6.9887209387211175
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            998.5639777605796,
+            -210.4097416828666,
+            -6.9887209387211175
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            984.0259399414064,
+            -252.70955543518068,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-29-11_1131761079/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-29-11_1131761079/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5e39792859cf28e64e919603e16cbfbc788864d9
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-29-11_1131761079/pose.jsonl
@@ -0,0 +1,209 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1480.6090211691137,
+            -111.8082960559269,
+            -9.554060675286241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1478.0109449577603,
+            -110.3082960559269,
+            -9.554060675286241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1475.412868746407,
+            -108.8082960559269,
+            -9.554060675286241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1472.8147925350536,
+            -107.3082960559269,
+            -9.554060675286241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1470.2167163237002,
+            -105.8082960559269,
+            -9.554060675286241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1467.6186401123468,
+            -104.3082960559269,
+            -9.554060675286241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1465.0205639009935,
+            -102.8082960559269,
+            -9.554060675286241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1462.42248768964,
+            -101.3082960559269,
+            -9.554060675286241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1459.8244114782867,
+            -99.8082960559269,
+            -9.554060675286241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1457.2263352669333,
+            -98.3082960559269,
+            -9.554060675286241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1454.62825905558,
+            -96.8082960559269,
+            -9.554060675286241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1452.0301828442266,
+            -95.3082960559269,
+            -9.554060675286241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1449.4321066328732,
+            -93.8082960559269,
+            -9.554060675286241
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1449.4321066328732,
+            -93.8082960559269,
+            -9.554060675286241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1446.4321066328732,
+            -93.8082960559269,
+            -9.554060675286241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1428.624742126465,
+            -85.18475704193116,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-3-21_1947867422/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-3-21_1947867422/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c93e14d21f0d173a54a378f66c0c83400f9049fe
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-3-21_1947867422/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            53.794034437176315,
+            -107.13036062258499,
+            -3.893965366730759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            55.294034437176315,
+            -104.53228441123167,
+            -3.893965366730759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            56.794034437176315,
+            -101.93420819987836,
+            -3.893965366730759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            58.294034437176315,
+            -99.33613198852504,
+            -3.893965366730759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            59.794034437176315,
+            -96.73805577717172,
+            -3.893965366730759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            61.294034437176315,
+            -94.13997956581841,
+            -3.893965366730759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            62.794034437176315,
+            -91.54190335446509,
+            -3.893965366730759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            64.29403443717632,
+            -88.94382714311178,
+            -3.893965366730759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965956
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            65.79403443717632,
+            -86.34575093175846,
+            -3.893965366730759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            67.29403443717632,
+            -83.74767472040514,
+            -3.893965366730759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            68.79403443717632,
+            -81.14959850905183,
+            -3.893965366730759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            70.29403443717632,
+            -78.55152229769851,
+            -3.893965366730759
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            70.29403443717632,
+            -78.55152229769851,
+            -3.893965366730759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            70.29403443717632,
+            -75.55152229769851,
+            -3.893965366730759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            70.29403443717632,
+            -72.55152229769851,
+            -3.893965366730759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            70.29403443717632,
+            -69.55152229769851,
+            -3.893965366730759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            70.29403443717632,
+            -66.55152229769851,
+            -3.893965366730759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            70.29403443717632,
+            -63.55152229769851,
+            -3.893965366730759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            70.29403443717632,
+            -60.55152229769851,
+            -3.893965366730759
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            70.69211120605469,
+            -56.732511901855474,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-32-43_1704841123/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-32-43_1704841123/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..874574649ec3f22055eee80dfebd0361e6b1b7ac
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-32-43_1704841123/pose.jsonl
@@ -0,0 +1,196 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1468.373450473715,
+            -23.678828357791314,
+            -5.571640578234537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1471.373450473715,
+            -23.678828357791314,
+            -5.571640578234537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1474.373450473715,
+            -23.678828357791314,
+            -5.571640578234537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1477.373450473715,
+            -23.678828357791314,
+            -5.571640578234537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1480.373450473715,
+            -23.678828357791314,
+            -5.571640578234537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1483.373450473715,
+            -23.678828357791314,
+            -5.571640578234537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1486.373450473715,
+            -23.678828357791314,
+            -5.571640578234537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1489.373450473715,
+            -23.678828357791314,
+            -5.571640578234537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1492.373450473715,
+            -23.678828357791314,
+            -5.571640578234537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1495.373450473715,
+            -23.678828357791314,
+            -5.571640578234537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1498.373450473715,
+            -23.678828357791314,
+            -5.571640578234537
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1498.373450473715,
+            -23.678828357791314,
+            -5.571640578234537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1500.9715266850683,
+            -25.178828357791314,
+            -5.571640578234537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1503.5696028964217,
+            -26.678828357791314,
+            -5.571640578234537
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1520.3544021606447,
+            -28.02864229679108,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-35-4_1623804486/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-35-4_1623804486/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9bc06e9403fd6126a29cd16dfd6b8872e5d20437
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-35-4_1623804486/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -175.2121566607821,
+            -287.899448638462,
+            -3.538862940938391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -173.7121566607821,
+            -285.3013724271087,
+            -3.538862940938391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -172.2121566607821,
+            -282.70329621575536,
+            -3.538862940938391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -170.7121566607821,
+            -280.10522000440204,
+            -3.538862940938391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -169.2121566607821,
+            -277.5071437930487,
+            -3.538862940938391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -167.7121566607821,
+            -274.9090675816954,
+            -3.538862940938391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -166.2121566607821,
+            -272.3109913703421,
+            -3.538862940938391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -164.7121566607821,
+            -269.7129151589888,
+            -3.538862940938391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -163.2121566607821,
+            -267.11483894763546,
+            -3.538862940938391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -161.7121566607821,
+            -264.51676273628215,
+            -3.538862940938391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -160.2121566607821,
+            -261.91868652492883,
+            -3.538862940938391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -158.7121566607821,
+            -259.3206103135755,
+            -3.538862940938391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -157.2121566607821,
+            -256.7225341022222,
+            -3.538862940938391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -155.7121566607821,
+            -254.12445789086888,
+            -3.538862940938391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -154.2121566607821,
+            -251.52638167951557,
+            -3.538862940938391
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -154.2121566607821,
+            -251.52638167951557,
+            -3.538862940938391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -154.2121566607821,
+            -248.52638167951557,
+            -3.538862940938391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -154.2121566607821,
+            -245.52638167951557,
+            -3.538862940938391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -154.2121566607821,
+            -242.52638167951557,
+            -3.538862940938391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -154.2121566607821,
+            -239.52638167951557,
+            -3.538862940938391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -154.2121566607821,
+            -236.52638167951557,
+            -3.538862940938391
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -152.3348680496216,
+            -234.43780555725098,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-43-23_1371570003/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-43-23_1371570003/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..663f4eef27ec37c1933b8c25346b48d239025478
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-43-23_1371570003/pose.jsonl
@@ -0,0 +1,209 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            431.68231478862634,
+            -374.04370668056066,
+            -1.7132234918426406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            430.18231478862634,
+            -376.641782891914,
+            -1.7132234918426406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            428.68231478862634,
+            -379.2398591032673,
+            -1.7132234918426406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            427.18231478862634,
+            -381.8379353146206,
+            -1.7132234918426406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            425.68231478862634,
+            -384.4360115259739,
+            -1.7132234918426406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            424.18231478862634,
+            -387.03408773732724,
+            -1.7132234918426406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            422.68231478862634,
+            -389.63216394868056,
+            -1.7132234918426406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            421.18231478862634,
+            -392.2302401600339,
+            -1.7132234918426406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            419.68231478862634,
+            -394.8283163713872,
+            -1.7132234918426406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            418.18231478862634,
+            -397.4263925827405,
+            -1.7132234918426406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            416.68231478862634,
+            -400.0244687940938,
+            -1.7132234918426406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            415.18231478862634,
+            -402.62254500544714,
+            -1.7132234918426406
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            415.18231478862634,
+            -402.62254500544714,
+            -1.7132234918426406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            415.18231478862634,
+            -405.62254500544714,
+            -1.7132234918426406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            415.18231478862634,
+            -408.62254500544714,
+            -1.7132234918426406
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            410.6194187164307,
+            -422.415909576416,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-50-31_1498387409/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-50-31_1498387409/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5c5d0cfa80ace9f9759b9b4f5ca3441a7dec3970
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-50-31_1498387409/pose.jsonl
@@ -0,0 +1,248 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            761.3024067155275,
+            -55.97846324888516,
+            -9.267927561991563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            759.8024067155275,
+            -53.38038703753185,
+            -9.267927561991563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            758.3024067155275,
+            -50.78231082617853,
+            -9.267927561991563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            756.8024067155275,
+            -48.184234614825215,
+            -9.267927561991563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            755.3024067155275,
+            -45.5861584034719,
+            -9.267927561991563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            753.8024067155275,
+            -42.98808219211858,
+            -9.267927561991563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            752.3024067155275,
+            -40.39000598076527,
+            -9.267927561991563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            750.8024067155275,
+            -37.79192976941195,
+            -9.267927561991563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            749.3024067155275,
+            -35.193853558058635,
+            -9.267927561991563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            747.8024067155275,
+            -32.59577734670532,
+            -9.267927561991563
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            747.8024067155275,
+            -32.59577734670532,
+            -9.267927561991563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            745.2043305041741,
+            -31.09577734670532,
+            -9.267927561991563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            742.6062542928207,
+            -29.59577734670532,
+            -9.267927561991563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            740.0081780814673,
+            -28.09577734670532,
+            -9.267927561991563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            737.410101870114,
+            -26.59577734670532,
+            -9.267927561991563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            734.8120256587606,
+            -25.09577734670532,
+            -9.267927561991563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            732.2139494474072,
+            -23.59577734670532,
+            -9.267927561991563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            729.6158732360539,
+            -22.09577734670532,
+            -9.267927561991563
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            727.4186401367188,
+            -18.7204083442688,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-59-27_2078480869/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-59-27_2078480869/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fcefbace45de102275a0cda6dc843a2ec65fe24b
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-59-27_2078480869/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            726.5778413359037,
+            4.814715808486641,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            723.5778413359037,
+            4.814715808486641,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            720.5778413359037,
+            4.814715808486641,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            717.5778413359037,
+            4.814715808486641,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            714.5778413359037,
+            4.814715808486641,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            711.5778413359037,
+            4.814715808486641,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            708.5778413359037,
+            4.814715808486641,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            705.5778413359037,
+            4.814715808486641,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            702.5778413359037,
+            4.814715808486641,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            699.5778413359037,
+            4.814715808486641,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            696.5778413359037,
+            4.814715808486641,
+            -2.794070140976901
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            696.5778413359037,
+            4.814715808486641,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            693.9797651245503,
+            3.314715808486641,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            691.381688913197,
+            1.814715808486641,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            688.7836127018436,
+            0.31471580848664127,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            686.1855364904902,
+            -1.1852841915133585,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            683.5874602791368,
+            -2.6852841915133583,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            680.9893840677835,
+            -4.185284191513358,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            678.3913078564301,
+            -5.685284191513358,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            675.7932316450767,
+            -7.185284191513358,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            673.1951554337234,
+            -8.685284191513357,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991504
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            670.59707922237,
+            -10.185284191513357,
+            -2.794070140976901
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            670.59707922237,
+            -10.185284191513357,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            667.59707922237,
+            -10.185284191513357,
+            -2.794070140976901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            664.59707922237,
+            -10.185284191513357,
+            -2.794070140976901
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            661.0575393676759,
+            -10.88031406402588,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-9-6_604263370/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-9-6_604263370/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..efb0f5b804db60a14602185b915a08a8a02134ae
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-9-6_604263370/pose.jsonl
@@ -0,0 +1,131 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1146.3909646314964,
+            -159.1280018443556,
+            -4.0096183366649925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1146.3909646314964,
+            -162.1280018443556,
+            -4.0096183366649925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1146.3909646314964,
+            -165.1280018443556,
+            -4.0096183366649925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1146.3909646314964,
+            -168.1280018443556,
+            -4.0096183366649925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1146.3909646314964,
+            -171.1280018443556,
+            -4.0096183366649925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1146.3909646314964,
+            -174.1280018443556,
+            -4.0096183366649925
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1146.3909646314964,
+            -174.1280018443556,
+            -4.0096183366649925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1144.8909646314964,
+            -176.7260780557089,
+            -4.0096183366649925
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1143.3909646314964,
+            -179.32415426706223,
+            -4.0096183366649925
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1136.0676353454592,
+            -208.6565689086914,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-18-10_1817049764/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-18-10_1817049764/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..175e40256088671c20c8aa1a5bbf7cf691c7de00
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-18-10_1817049764/pose.jsonl
@@ -0,0 +1,235 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            356.890267056472,
+            -37.633428640925715,
+            -1.4197678823376734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            358.390267056472,
+            -40.23150485227903,
+            -1.4197678823376734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            359.890267056472,
+            -42.82958106363235,
+            -1.4197678823376734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            361.390267056472,
+            -45.42765727498566,
+            -1.4197678823376734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            362.890267056472,
+            -48.02573348633898,
+            -1.4197678823376734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            364.390267056472,
+            -50.623809697692295,
+            -1.4197678823376734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            365.890267056472,
+            -53.22188590904561,
+            -1.4197678823376734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            367.390267056472,
+            -55.81996212039893,
+            -1.4197678823376734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            368.890267056472,
+            -58.41803833175224,
+            -1.4197678823376734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            370.390267056472,
+            -61.01611454310556,
+            -1.4197678823376734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            371.890267056472,
+            -63.614190754458875,
+            -1.4197678823376734
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            371.890267056472,
+            -63.614190754458875,
+            -1.4197678823376734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            371.890267056472,
+            -66.61419075445887,
+            -1.4197678823376734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            371.890267056472,
+            -69.61419075445887,
+            -1.4197678823376734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            371.890267056472,
+            -72.61419075445887,
+            -1.4197678823376734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            371.890267056472,
+            -75.61419075445887,
+            -1.4197678823376734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            371.890267056472,
+            -78.61419075445887,
+            -1.4197678823376734
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            375.30573921203614,
+            -93.86981248855591,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-19-18_1607500335/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-19-18_1607500335/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..18724fc9c084ca952c97a856be2b66793901ebc2
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-19-18_1607500335/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            321.08563645437494,
+            -381.81361452431406,
+            -9.967272424472274
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            319.58563645437494,
+            -379.21553831296075,
+            -9.967272424472274
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            318.08563645437494,
+            -376.61746210160743,
+            -9.967272424472274
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            316.58563645437494,
+            -374.0193858902541,
+            -9.967272424472274
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            315.08563645437494,
+            -371.4213096789008,
+            -9.967272424472274
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            313.58563645437494,
+            -368.8232334675475,
+            -9.967272424472274
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            312.08563645437494,
+            -366.22515725619417,
+            -9.967272424472274
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            310.58563645437494,
+            -363.62708104484085,
+            -9.967272424472274
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            309.08563645437494,
+            -361.02900483348753,
+            -9.967272424472274
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            307.58563645437494,
+            -358.4309286221342,
+            -9.967272424472274
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            306.08563645437494,
+            -355.8328524107809,
+            -9.967272424472274
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            304.58563645437494,
+            -353.2347761994276,
+            -9.967272424472274
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            304.58563645437494,
+            -353.2347761994276,
+            -9.967272424472274
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            301.9875602430216,
+            -351.7347761994276,
+            -9.967272424472274
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            299.3894840316683,
+            -350.2347761994276,
+            -9.967272424472274
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            296.791407820315,
+            -348.7347761994276,
+            -9.967272424472274
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            294.19333160896167,
+            -347.2347761994276,
+            -9.967272424472274
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            291.59525539760835,
+            -345.7347761994276,
+            -9.967272424472274
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            288.99717918625504,
+            -344.2347761994276,
+            -9.967272424472274
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            286.3991029749017,
+            -342.7347761994276,
+            -9.967272424472274
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            284.2394945144654,
+            -340.45848770141606,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-21-56_745792349/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-21-56_745792349/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b7d698cd86db3c7ed2dc6c0abe9a7a22d286ee3d
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-21-56_745792349/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -200.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -197.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -194.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -191.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -188.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -185.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -182.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -179.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -176.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -173.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -170.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -167.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -164.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -161.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -158.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -155.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -152.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -149.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -146.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -143.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -140.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -137.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -134.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -134.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -134.38895223220476,
+            -727.4723450820434,
+            -1.91489445841448
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -132.88895223220476,
+            -730.0704212933967,
+            -1.91489445841448
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -130.4267204284668,
+            -730.7557357788087,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-41-14_612816071/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-41-14_612816071/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..823278ffc403b31733f964df20a94c2d909ba7a5
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-41-14_612816071/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            846.1525308805236,
+            -350.37521468817215,
+            -2.141679224768077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            847.6525308805236,
+            -347.77713847681883,
+            -2.141679224768077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            849.1525308805236,
+            -345.1790622654655,
+            -2.141679224768077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            850.6525308805236,
+            -342.5809860541122,
+            -2.141679224768077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            852.1525308805236,
+            -339.9829098427589,
+            -2.141679224768077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            853.6525308805236,
+            -337.38483363140557,
+            -2.141679224768077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            855.1525308805236,
+            -334.78675742005225,
+            -2.141679224768077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            856.6525308805236,
+            -332.18868120869894,
+            -2.141679224768077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            858.1525308805236,
+            -329.5906049973456,
+            -2.141679224768077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            859.6525308805236,
+            -326.9925287859923,
+            -2.141679224768077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            861.1525308805236,
+            -324.394452574639,
+            -2.141679224768077
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            861.1525308805236,
+            -324.394452574639,
+            -2.141679224768077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            861.1525308805236,
+            -321.394452574639,
+            -2.141679224768077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            861.1525308805236,
+            -318.394452574639,
+            -2.141679224768077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            861.1525308805236,
+            -315.394452574639,
+            -2.141679224768077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            861.1525308805236,
+            -312.394452574639,
+            -2.141679224768077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            861.1525308805236,
+            -309.394452574639,
+            -2.141679224768077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            861.1525308805236,
+            -306.394452574639,
+            -2.141679224768077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            861.1525308805236,
+            -303.394452574639,
+            -2.141679224768077
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            871.2010513305664,
+            -278.09218101501466,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-48-44_755526127/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-48-44_755526127/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c8796d336d2ca52e6eed47f7aca3a3793ee37c23
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-48-44_755526127/pose.jsonl
@@ -0,0 +1,222 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            850.0971701879272,
+            -347.16134705654724,
+            -1.6079539593293362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            851.5971701879272,
+            -344.5632708451939,
+            -1.6079539593293362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            853.0971701879272,
+            -341.9651946338406,
+            -1.6079539593293362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            854.5971701879272,
+            -339.3671184224873,
+            -1.6079539593293362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            856.0971701879272,
+            -336.769042211134,
+            -1.6079539593293362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            857.5971701879272,
+            -334.17096599978066,
+            -1.6079539593293362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            859.0971701879272,
+            -331.57288978842735,
+            -1.6079539593293362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            860.5971701879272,
+            -328.97481357707403,
+            -1.6079539593293362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            862.0971701879272,
+            -326.3767373657207,
+            -1.6079539593293362
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            862.0971701879272,
+            -326.3767373657207,
+            -1.6079539593293362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            862.0971701879272,
+            -323.3767373657207,
+            -1.6079539593293362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            862.0971701879272,
+            -320.3767373657207,
+            -1.6079539593293362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            862.0971701879272,
+            -317.3767373657207,
+            -1.6079539593293362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            862.0971701879272,
+            -314.3767373657207,
+            -1.6079539593293362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            862.0971701879272,
+            -311.3767373657207,
+            -1.6079539593293362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            862.0971701879272,
+            -308.3767373657207,
+            -1.6079539593293362
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            871.2010513305664,
+            -278.09218101501466,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-5-7_918483162/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-5-7_918483162/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dbbce404708b365e7a9ce3a7343aaad11c913d9d
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-5-7_918483162/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -109.57688439764597,
+            -270.64417607556356,
+            -2.2861949327113695
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -112.17496060899929,
+            -269.14417607556356,
+            -2.2861949327113695
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -114.7730368203526,
+            -267.64417607556356,
+            -2.2861949327113695
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -117.37111303170592,
+            -266.14417607556356,
+            -2.2861949327113695
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -119.96918924305923,
+            -264.64417607556356,
+            -2.2861949327113695
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -122.56726545441255,
+            -263.14417607556356,
+            -2.2861949327113695
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -125.16534166576587,
+            -261.64417607556356,
+            -2.2861949327113695
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -127.76341787711918,
+            -260.14417607556356,
+            -2.2861949327113695
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -130.3614940884725,
+            -258.64417607556356,
+            -2.2861949327113695
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -132.95957029982583,
+            -257.14417607556356,
+            -2.2861949327113695
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -135.55764651117914,
+            -255.64417607556356,
+            -2.2861949327113695
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -138.15572272253246,
+            -254.14417607556356,
+            -2.2861949327113695
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -140.75379893388578,
+            -252.64417607556356,
+            -2.2861949327113695
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -140.75379893388578,
+            -252.64417607556356,
+            -2.2861949327113695
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -142.25379893388578,
+            -250.04609986421025,
+            -2.2861949327113695
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -143.75379893388578,
+            -247.44802365285693,
+            -2.2861949327113695
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -145.25379893388578,
+            -244.84994744150362,
+            -2.2861949327113695
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -146.75379893388578,
+            -242.2518712301503,
+            -2.2861949327113695
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -148.25379893388578,
+            -239.65379501879698,
+            -2.2861949327113695
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -149.75379893388578,
+            -237.05571880744367,
+            -2.2861949327113695
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -152.3348680496216,
+            -234.43780555725098,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-6-41_940472515/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-6-41_940472515/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ff334d71e3409ce53f1a06216bbc4c9f96988822
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-6-41_940472515/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1339.5370347235973,
+            -127.0545070476524,
+            -6.931116755483023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1341.0370347235973,
+            -124.45643083629908,
+            -6.931116755483023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1342.5370347235973,
+            -121.85835462494576,
+            -6.931116755483023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1344.0370347235973,
+            -119.26027841359245,
+            -6.931116755483023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1345.5370347235973,
+            -116.66220220223913,
+            -6.931116755483023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1347.0370347235973,
+            -114.06412599088581,
+            -6.931116755483023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1348.5370347235973,
+            -111.4660497795325,
+            -6.931116755483023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1350.0370347235973,
+            -108.86797356817918,
+            -6.931116755483023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1351.5370347235973,
+            -106.26989735682587,
+            -6.931116755483023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1353.0370347235973,
+            -103.67182114547255,
+            -6.931116755483023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1354.5370347235973,
+            -101.07374493411923,
+            -6.931116755483023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1356.0370347235973,
+            -98.47566872276592,
+            -6.931116755483023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1357.5370347235973,
+            -95.8775925114126,
+            -6.931116755483023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1359.0370347235973,
+            -93.27951630005929,
+            -6.931116755483023
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1359.0370347235973,
+            -93.27951630005929,
+            -6.931116755483023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1361.6351109349507,
+            -91.77951630005929,
+            -6.931116755483023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1364.233187146304,
+            -90.27951630005929,
+            -6.931116755483023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1366.8312633576575,
+            -88.77951630005929,
+            -6.931116755483023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1369.4293395690108,
+            -87.27951630005929,
+            -6.931116755483023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1372.0274157803642,
+            -85.77951630005929,
+            -6.931116755483023
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1381.41708984375,
+            -76.18637247085572,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-9-59_1974571475/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-9-59_1974571475/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a778195e3fc9a4bada1e0e74523e2255760cff25
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-9-59_1974571475/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            354.0722982394973,
+            -223.97334988235252,
+            -3.058290529944321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            355.5722982394973,
+            -226.57142609370584,
+            -3.058290529944321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            357.0722982394973,
+            -229.16950230505915,
+            -3.058290529944321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            358.5722982394973,
+            -231.76757851641247,
+            -3.058290529944321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            360.0722982394973,
+            -234.3656547277658,
+            -3.058290529944321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            361.5722982394973,
+            -236.9637309391191,
+            -3.058290529944321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            363.0722982394973,
+            -239.56180715047242,
+            -3.058290529944321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            364.5722982394973,
+            -242.15988336182573,
+            -3.058290529944321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            366.0722982394973,
+            -244.75795957317905,
+            -3.058290529944321
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            366.0722982394973,
+            -244.75795957317905,
+            -3.058290529944321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            366.0722982394973,
+            -247.75795957317905,
+            -3.058290529944321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            366.0722982394973,
+            -250.75795957317905,
+            -3.058290529944321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            366.0722982394973,
+            -253.75795957317905,
+            -3.058290529944321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            366.0722982394973,
+            -256.75795957317905,
+            -3.058290529944321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            366.0722982394973,
+            -259.75795957317905,
+            -3.058290529944321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            366.0722982394973,
+            -262.75795957317905,
+            -3.058290529944321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            366.0722982394973,
+            -265.75795957317905,
+            -3.058290529944321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            366.0722982394973,
+            -268.75795957317905,
+            -3.058290529944321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            366.0722982394973,
+            -271.75795957317905,
+            -3.058290529944321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            366.0722982394973,
+            -274.75795957317905,
+            -3.058290529944321
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            366.0722982394973,
+            -277.75795957317905,
+            -3.058290529944321
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            368.39450302124027,
+            -279.85243492126466,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-10-32_1401262337/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-10-32_1401262337/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..29dc5b84d025829bb7abe63f17565e1e3ec6a8b0
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-10-32_1401262337/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -28.601672495437352,
+            -793.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -28.601672495437352,
+            -790.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -28.601672495437352,
+            -787.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -28.601672495437352,
+            -784.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -28.601672495437352,
+            -781.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -28.601672495437352,
+            -778.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -28.601672495437352,
+            -775.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -28.601672495437352,
+            -772.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -28.601672495437352,
+            -769.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -28.601672495437352,
+            -766.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -28.601672495437352,
+            -763.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -28.601672495437352,
+            -760.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -28.601672495437352,
+            -757.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -28.601672495437352,
+            -754.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -28.601672495437352,
+            -751.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -28.601672495437352,
+            -748.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -28.601672495437352,
+            -745.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -28.601672495437352,
+            -742.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -28.601672495437352,
+            -739.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -28.601672495437352,
+            -736.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -28.601672495437352,
+            -733.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -28.601672495437352,
+            -730.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -28.601672495437352,
+            -727.2958604029923,
+            -5.411630232934491
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -27.698616790771485,
+            -723.4622337341309,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-11-0_1331565220/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-11-0_1331565220/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e2ff0fc3ccda95c3ff510060e8cc30776eb62c3d
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-11-0_1331565220/pose.jsonl
@@ -0,0 +1,92 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            478.8897122442635,
+            -173.1696761834483,
+            -1.2570022066123787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            478.8897122442635,
+            -176.1696761834483,
+            -1.2570022066123787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            478.8897122442635,
+            -179.1696761834483,
+            -1.2570022066123787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            478.8897122442635,
+            -182.1696761834483,
+            -1.2570022066123787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            478.8897122442635,
+            -185.1696761834483,
+            -1.2570022066123787
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            478.8897122442635,
+            -188.1696761834483,
+            -1.2570022066123787
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            485.3397609710694,
+            -231.23137340545657,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-14-54_159037710/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-14-54_159037710/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6aa6620756cab685e12d95dd74201231e8db6a58
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-14-54_159037710/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1622.6077133346953,
+            -115.72135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1620.009637123342,
+            -114.22135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1617.4115609119885,
+            -112.72135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1614.8134847006352,
+            -111.22135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1612.2154084892818,
+            -109.72135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1609.6173322779284,
+            -108.22135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1607.019256066575,
+            -106.72135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1604.4211798552217,
+            -105.22135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1601.8231036438683,
+            -103.72135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1599.225027432515,
+            -102.22135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1596.6269512211616,
+            -100.72135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1594.0288750098082,
+            -99.22135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1591.4307987984548,
+            -97.72135118244977,
+            -8.226224517058363
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1591.4307987984548,
+            -97.72135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1588.4307987984548,
+            -97.72135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1585.4307987984548,
+            -97.72135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1582.4307987984548,
+            -97.72135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1579.4307987984548,
+            -97.72135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1576.4307987984548,
+            -97.72135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1573.4307987984548,
+            -97.72135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1570.4307987984548,
+            -97.72135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1567.4307987984548,
+            -97.72135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1564.4307987984548,
+            -97.72135118244977,
+            -8.226224517058363
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1561.4307987984548,
+            -97.72135118244977,
+            -8.226224517058363
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1559.5110931396484,
+            -96.07600393295289,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-18-1_2124149955/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-18-1_2124149955/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..735313d9959c6739e32c524ab5f6e077767d8dcd
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-18-1_2124149955/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            32.365764876748464,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            29.365764876748464,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            26.365764876748464,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            23.365764876748464,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            20.365764876748464,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            17.365764876748464,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            14.365764876748464,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            11.365764876748464,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            8.365764876748464,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            5.3657648767484645,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            2.3657648767484645,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -0.6342351232515355,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -3.6342351232515355,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -6.6342351232515355,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -9.634235123251536,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -12.634235123251536,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -15.634235123251536,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -18.634235123251536,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -21.634235123251536,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -24.634235123251536,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -27.634235123251536,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -27.634235123251536,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -27.634235123251536,
+            -346.4544973549525,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -29.134235123251536,
+            -349.0525735663058,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -30.634235123251536,
+            -351.6506497776591,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -32.134235123251536,
+            -354.2487259890124,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -33.634235123251536,
+            -356.84680220036574,
+            -0.9164152700155803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -35.134235123251536,
+            -359.44487841171906,
+            -0.9164152700155803
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -37.04707775115967,
+            -360.1783214569092,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-21-57_413892161/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-21-57_413892161/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e031f1b94ad46e0015fc92d23a1c7f460f283386
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-21-57_413892161/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            140.59691108199615,
+            131.03109471661173,
+            -5.608283891976579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            139.09691108199615,
+            133.62917092796505,
+            -5.608283891976579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            137.59691108199615,
+            136.22724713931837,
+            -5.608283891976579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            136.09691108199615,
+            138.82532335067168,
+            -5.608283891976579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            134.59691108199615,
+            141.423399562025,
+            -5.608283891976579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            133.09691108199615,
+            144.0214757733783,
+            -5.608283891976579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            131.59691108199615,
+            146.61955198473163,
+            -5.608283891976579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            130.09691108199615,
+            149.21762819608495,
+            -5.608283891976579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            128.59691108199615,
+            151.81570440743826,
+            -5.608283891976579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            127.09691108199615,
+            154.41378061879158,
+            -5.608283891976579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            125.59691108199615,
+            157.0118568301449,
+            -5.608283891976579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            124.09691108199615,
+            159.6099330414982,
+            -5.608283891976579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            122.59691108199615,
+            162.20800925285153,
+            -5.608283891976579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            121.09691108199615,
+            164.80608546420484,
+            -5.608283891976579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            119.59691108199615,
+            167.40416167555816,
+            -5.608283891976579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            118.09691108199615,
+            170.00223788691147,
+            -5.608283891976579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            116.59691108199615,
+            172.6003140982648,
+            -5.608283891976579
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            116.59691108199615,
+            172.6003140982648,
+            -5.608283891976579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            113.99883487064284,
+            174.1003140982648,
+            -5.608283891976579
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            111.40075865928952,
+            175.6003140982648,
+            -5.608283891976579
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            108.78504695892335,
+            175.8657693862915,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-23-1_915736906/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-23-1_915736906/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2b8b5bb4a6e484d3ca4a6b8f5aa0ee7a77da6f75
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-23-1_915736906/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -19.073273778117144,
+            -540.0436078329989,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -17.573273778117144,
+            -537.4455316216456,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -16.073273778117144,
+            -534.8474554102922,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -14.573273778117144,
+            -532.2493791989389,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -13.073273778117144,
+            -529.6513029875855,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -11.573273778117144,
+            -527.0532267762321,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -10.073273778117144,
+            -524.4551505648787,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -8.573273778117144,
+            -521.8570743535254,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -7.073273778117144,
+            -519.258998142172,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -5.573273778117144,
+            -516.6609219308186,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -4.073273778117144,
+            -514.0628457194653,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -2.573273778117144,
+            -511.46476950811194,
+            -7.5999752374798195
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -2.573273778117144,
+            -511.46476950811194,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -2.573273778117144,
+            -508.46476950811194,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -2.573273778117144,
+            -505.46476950811194,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -2.573273778117144,
+            -502.46476950811194,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -2.573273778117144,
+            -499.46476950811194,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -2.573273778117144,
+            -496.46476950811194,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -2.573273778117144,
+            -493.46476950811194,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -2.573273778117144,
+            -490.46476950811194,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -2.573273778117144,
+            -487.46476950811194,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -2.573273778117144,
+            -484.46476950811194,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -2.573273778117144,
+            -481.46476950811194,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -2.573273778117144,
+            -478.46476950811194,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -2.573273778117144,
+            -475.46476950811194,
+            -7.5999752374798195
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -2.573273778117144,
+            -472.46476950811194,
+            -7.5999752374798195
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -3.1689678192138673,
+            -469.5184967041016,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-29-26_1369520631/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-29-26_1369520631/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a69f98dcb6ac90a07d68451511e5e647e3dceef6
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-29-26_1369520631/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            127.91741553997511,
+            135.78527923451236,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            127.91741553997511,
+            132.78527923451236,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            127.91741553997511,
+            129.78527923451236,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            127.91741553997511,
+            126.78527923451236,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            127.91741553997511,
+            123.78527923451236,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            127.91741553997511,
+            120.78527923451236,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            127.91741553997511,
+            117.78527923451236,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            127.91741553997511,
+            114.78527923451236,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            127.91741553997511,
+            111.78527923451236,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            127.91741553997511,
+            108.78527923451236,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            127.91741553997511,
+            105.78527923451236,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            127.91741553997511,
+            102.78527923451236,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            127.91741553997511,
+            99.78527923451236,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            127.91741553997511,
+            96.78527923451236,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            127.91741553997511,
+            93.78527923451236,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            127.91741553997511,
+            90.78527923451236,
+            -9.373204785029854
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            127.91741553997511,
+            90.78527923451236,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            126.41741553997511,
+            88.18720302315904,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            124.91741553997511,
+            85.58912681180573,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            123.41741553997511,
+            82.99105060045241,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            121.91741553997511,
+            80.3929743890991,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            120.41741553997511,
+            77.79489817774578,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            118.91741553997511,
+            75.19682196639246,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            117.41741553997511,
+            72.59874575503915,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            115.91741553997511,
+            70.00066954368583,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            114.41741553997511,
+            67.40259333233251,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            112.91741553997511,
+            64.8045171209792,
+            -9.373204785029854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            111.41741553997511,
+            62.20644090962588,
+            -9.373204785029854
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            112.24056682586671,
+            60.22414054870606,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-31-14_69114447/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-31-14_69114447/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ae146e37c129910ee12e52b9ee46235406057514
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-31-14_69114447/pose.jsonl
@@ -0,0 +1,417 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            91.80879161700663,
+            30.295860821055584,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            94.80879161700663,
+            30.295860821055584,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            97.80879161700663,
+            30.295860821055584,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            100.80879161700663,
+            30.295860821055584,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            103.80879161700663,
+            30.295860821055584,
+            -3.9926506320713075
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            103.80879161700663,
+            30.295860821055584,
+            -3.9926506320713075
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            103.80879161700663,
+            30.295860821055584,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            105.30879161700663,
+            32.8939370324089,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            106.80879161700663,
+            35.492013243762216,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            108.30879161700663,
+            38.09008945511553,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            109.80879161700663,
+            40.68816566646885,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            111.30879161700663,
+            43.286241877822164,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            112.80879161700663,
+            45.88431808917548,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            114.30879161700663,
+            48.482394300528796,
+            -3.9926506320713075
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            114.30879161700663,
+            48.482394300528796,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            116.90686782835995,
+            49.982394300528796,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            119.50494403971327,
+            51.482394300528796,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            122.10302025106658,
+            52.982394300528796,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            124.7010964624199,
+            54.482394300528796,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            127.29917267377321,
+            55.982394300528796,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            129.89724888512654,
+            57.482394300528796,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982965
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            132.49532509647986,
+            58.982394300528796,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            135.09340130783318,
+            60.482394300528796,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            137.6914775191865,
+            61.982394300528796,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            140.2895537305398,
+            63.482394300528796,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            142.88762994189312,
+            64.9823943005288,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            145.48570615324644,
+            66.4823943005288,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            148.08378236459976,
+            67.9823943005288,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            150.68185857595307,
+            69.4823943005288,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            153.2799347873064,
+            70.9823943005288,
+            -3.9926506320713075
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            155.8780109986597,
+            72.4823943005288,
+            -3.9926506320713075
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            156.30504608154297,
+            75.66667518615724,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-37-12_1235238502/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-37-12_1235238502/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1c06c5baff2df6e155dbba2cbb79348937e1d511
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-37-12_1235238502/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            447.98361901585673,
+            249.53797431960416,
+            -0.8164746501957829
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            450.58169522721005,
+            251.03797431960416,
+            -0.8164746501957829
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            450.58169522721005,
+            251.03797431960416,
+            -0.8164746501957829
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            452.08169522721005,
+            253.63605053095748,
+            -0.8164746501957829
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            452.08169522721005,
+            253.63605053095748,
+            -0.8164746501957829
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            454.67977143856336,
+            255.13605053095748,
+            -0.8164746501957829
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            457.2778476499167,
+            256.63605053095745,
+            -0.8164746501957829
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982907
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            459.87592386127,
+            258.13605053095745,
+            -0.8164746501957829
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            462.4740000726233,
+            259.63605053095745,
+            -0.8164746501957829
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            465.0720762839766,
+            261.13605053095745,
+            -0.8164746501957829
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            467.67015249532994,
+            262.63605053095745,
+            -0.8164746501957829
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            470.26822870668326,
+            264.13605053095745,
+            -0.8164746501957829
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            472.8663049180366,
+            265.63605053095745,
+            -0.8164746501957829
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            475.4643811293899,
+            267.13605053095745,
+            -0.8164746501957829
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            478.0624573407432,
+            268.63605053095745,
+            -0.8164746501957829
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            480.6605335520965,
+            270.13605053095745,
+            -0.8164746501957829
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            483.25860976344984,
+            271.63605053095745,
+            -0.8164746501957829
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            485.85668597480316,
+            273.13605053095745,
+            -0.8164746501957829
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            488.4547621861565,
+            274.63605053095745,
+            -0.8164746501957829
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            491.0528383975098,
+            276.13605053095745,
+            -0.8164746501957829
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            493.6509146088631,
+            277.63605053095745,
+            -0.8164746501957829
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            496.2489908202164,
+            279.13605053095745,
+            -0.8164746501957829
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            498.19472236633305,
+            281.0884632110596,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-39-47_256031502/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-39-47_256031502/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e5808ad698902d45e88d9570ce1e086d48266a60
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-39-47_256031502/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            170.36962026632972,
+            213.50667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            173.36962026632972,
+            213.50667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            176.36962026632972,
+            213.50667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            179.36962026632972,
+            213.50667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            182.36962026632972,
+            213.50667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            185.36962026632972,
+            213.50667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            188.36962026632972,
+            213.50667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            191.36962026632972,
+            213.50667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            194.36962026632972,
+            213.50667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            197.36962026632972,
+            213.50667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            200.36962026632972,
+            213.50667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            203.36962026632972,
+            213.50667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            206.36962026632972,
+            213.50667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            209.36962026632972,
+            213.50667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            212.36962026632972,
+            213.50667689256278,
+            -0.7242101423612688
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            212.36962026632972,
+            213.50667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            214.96769647768303,
+            212.00667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            217.56577268903635,
+            210.50667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            220.16384890038967,
+            209.00667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            222.76192511174298,
+            207.50667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            225.3600013230963,
+            206.00667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            227.95807753444961,
+            204.50667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            230.55615374580293,
+            203.00667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            233.15422995715625,
+            201.50667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            235.75230616850956,
+            200.00667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            238.35038237986288,
+            198.50667689256278,
+            -0.7242101423612688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            240.9484585912162,
+            197.00667689256278,
+            -0.7242101423612688
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            243.237640953064,
+            194.2933292388916,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-43-36_1063641238/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-43-36_1063641238/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1eb267605b8a634def2251501a3ec249d1b4200e
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-43-36_1063641238/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            512.1786052591922,
+            -318.0643287637357,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            512.1786052591922,
+            -321.0643287637357,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            512.1786052591922,
+            -324.0643287637357,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            512.1786052591922,
+            -327.0643287637357,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            512.1786052591922,
+            -330.0643287637357,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            512.1786052591922,
+            -333.0643287637357,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            512.1786052591922,
+            -336.0643287637357,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            512.1786052591922,
+            -339.0643287637357,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            512.1786052591922,
+            -342.0643287637357,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            512.1786052591922,
+            -345.0643287637357,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            512.1786052591922,
+            -348.0643287637357,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            512.1786052591922,
+            -351.0643287637357,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            512.1786052591922,
+            -354.0643287637357,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            512.1786052591922,
+            -357.0643287637357,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            512.1786052591922,
+            -360.0643287637357,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            512.1786052591922,
+            -363.0643287637357,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            512.1786052591922,
+            -366.0643287637357,
+            -6.998822481400515
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            512.1786052591922,
+            -366.0643287637357,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            510.6786052591922,
+            -368.66240497508903,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            509.1786052591922,
+            -371.26048118644235,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            507.6786052591922,
+            -373.85855739779566,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            506.1786052591922,
+            -376.456633609149,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            504.6786052591922,
+            -379.0547098205023,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            503.1786052591922,
+            -381.6527860318556,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            501.6786052591922,
+            -384.2508622432089,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            500.1786052591922,
+            -386.84893845456224,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            498.6786052591922,
+            -389.44701466591556,
+            -6.998822481400515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            497.1786052591922,
+            -392.0450908772689,
+            -6.998822481400515
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            495.27006835937505,
+            -393.85822601318364,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-49-8_831661736/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-49-8_831661736/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7a73994ac55dc2574c250382559000636f92876f
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-49-8_831661736/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -106.10814743020782,
+            -55.65218529862143,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -107.60814743020782,
+            -58.25026150997475,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -109.10814743020782,
+            -60.848337721328065,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -110.60814743020782,
+            -63.44641393268138,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -112.10814743020782,
+            -66.0444901440347,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -113.60814743020782,
+            -68.64256635538801,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -115.10814743020782,
+            -71.24064256674133,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -116.60814743020782,
+            -73.83871877809464,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -118.10814743020782,
+            -76.43679498944796,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -119.60814743020782,
+            -79.03487120080128,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -121.10814743020782,
+            -81.63294741215459,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -122.60814743020782,
+            -84.23102362350791,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -124.10814743020782,
+            -86.82909983486122,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -125.60814743020782,
+            -89.42717604621454,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -127.10814743020782,
+            -92.02525225756786,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -128.60814743020782,
+            -94.62332846892117,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -130.10814743020782,
+            -97.22140468027449,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -131.60814743020782,
+            -99.8194808916278,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -133.10814743020782,
+            -102.41755710298112,
+            -1.9919755955744414
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -133.10814743020782,
+            -102.41755710298112,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -133.10814743020782,
+            -105.41755710298112,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -133.10814743020782,
+            -108.41755710298112,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -133.10814743020782,
+            -111.41755710298112,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -133.10814743020782,
+            -114.41755710298112,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -133.10814743020782,
+            -117.41755710298112,
+            -1.9919755955744414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -133.10814743020782,
+            -120.41755710298112,
+            -1.9919755955744414
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -133.47221508026124,
+            -121.93247375488282,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-59-9_335558628/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-59-9_335558628/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..058a8a3c16349acf7226d67f8c4e6da65d09ff65
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-59-9_335558628/pose.jsonl
@@ -0,0 +1,222 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1542.2075058768282,
+            -98.64241537942901,
+            -5.465626898892808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1540.7075058768282,
+            -96.0443391680757,
+            -5.465626898892808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1539.2075058768282,
+            -93.44626295672238,
+            -5.465626898892808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1537.7075058768282,
+            -90.84818674536906,
+            -5.465626898892808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1536.2075058768282,
+            -88.25011053401575,
+            -5.465626898892808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1534.7075058768282,
+            -85.65203432266243,
+            -5.465626898892808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1533.2075058768282,
+            -83.05395811130911,
+            -5.465626898892808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1531.7075058768282,
+            -80.4558818999558,
+            -5.465626898892808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1530.2075058768282,
+            -77.85780568860248,
+            -5.465626898892808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1528.7075058768282,
+            -75.25972947724917,
+            -5.465626898892808
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1528.7075058768282,
+            -75.25972947724917,
+            -5.465626898892808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1528.7075058768282,
+            -72.25972947724917,
+            -5.465626898892808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1528.7075058768282,
+            -69.25972947724917,
+            -5.465626898892808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1528.7075058768282,
+            -66.25972947724917,
+            -5.465626898892808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1528.7075058768282,
+            -63.25972947724917,
+            -5.465626898892808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1528.7075058768282,
+            -60.25972947724917,
+            -5.465626898892808
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1520.3544021606447,
+            -28.02864229679108,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-7-4_2042830296/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-7-4_2042830296/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4371fbb13bf395edc65871bc7847300706e503d6
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-7-4_2042830296/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            401.486946782844,
+            -495.924301142963,
+            -8.262149206598712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            401.486946782844,
+            -492.924301142963,
+            -8.262149206598712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            401.486946782844,
+            -489.924301142963,
+            -8.262149206598712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            401.486946782844,
+            -486.924301142963,
+            -8.262149206598712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            401.486946782844,
+            -483.924301142963,
+            -8.262149206598712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            401.486946782844,
+            -480.924301142963,
+            -8.262149206598712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            401.486946782844,
+            -477.924301142963,
+            -8.262149206598712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            401.486946782844,
+            -474.924301142963,
+            -8.262149206598712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            401.486946782844,
+            -471.924301142963,
+            -8.262149206598712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            401.486946782844,
+            -468.924301142963,
+            -8.262149206598712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            401.486946782844,
+            -465.924301142963,
+            -8.262149206598712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            401.486946782844,
+            -462.924301142963,
+            -8.262149206598712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            401.486946782844,
+            -459.924301142963,
+            -8.262149206598712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            401.486946782844,
+            -456.924301142963,
+            -8.262149206598712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            401.486946782844,
+            -453.924301142963,
+            -8.262149206598712
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            401.486946782844,
+            -453.924301142963,
+            -8.262149206598712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            402.986946782844,
+            -451.32622493160966,
+            -8.262149206598712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            404.486946782844,
+            -448.72814872025634,
+            -8.262149206598712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            405.986946782844,
+            -446.130072508903,
+            -8.262149206598712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            407.486946782844,
+            -443.5319962975497,
+            -8.262149206598712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            408.986946782844,
+            -440.9339200861964,
+            -8.262149206598712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            410.486946782844,
+            -438.3358438748431,
+            -8.262149206598712
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            410.6194187164307,
+            -422.415909576416,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-24-56_1032684367/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-24-56_1032684367/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d9ea38b9d14933a31508d8433794e1d57af0f7b0
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-24-56_1032684367/pose.jsonl
@@ -0,0 +1,222 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            924.2471794986939,
+            -219.11252584105392,
+            -8.91904153946939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            926.8452557100472,
+            -220.61252584105392,
+            -8.91904153946939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            929.4433319214006,
+            -222.11252584105392,
+            -8.91904153946939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            932.041408132754,
+            -223.61252584105392,
+            -8.91904153946939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            934.6394843441074,
+            -225.11252584105392,
+            -8.91904153946939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            937.2375605554607,
+            -226.61252584105392,
+            -8.91904153946939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            939.8356367668141,
+            -228.11252584105392,
+            -8.91904153946939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            942.4337129781675,
+            -229.61252584105392,
+            -8.91904153946939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            945.0317891895209,
+            -231.11252584105392,
+            -8.91904153946939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            947.6298654008742,
+            -232.61252584105392,
+            -8.91904153946939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            950.2279416122276,
+            -234.11252584105392,
+            -8.91904153946939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            952.826017823581,
+            -235.61252584105392,
+            -8.91904153946939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            955.4240940349343,
+            -237.11252584105392,
+            -8.91904153946939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            958.0221702462877,
+            -238.61252584105392,
+            -8.91904153946939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            960.6202464576411,
+            -240.11252584105392,
+            -8.91904153946939
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            963.2183226689945,
+            -241.61252584105392,
+            -8.91904153946939
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            984.0259399414064,
+            -252.70955543518068,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-26-59_303238858/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-26-59_303238858/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..881bcd796b444ab6a7d84b022738f3873cd2c9b1
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-26-59_303238858/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            373.1569172611887,
+            -330.4118781915046,
+            -0.2867491682346106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            373.1569172611887,
+            -327.4118781915046,
+            -0.2867491682346106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            373.1569172611887,
+            -324.4118781915046,
+            -0.2867491682346106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            373.1569172611887,
+            -321.4118781915046,
+            -0.2867491682346106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            373.1569172611887,
+            -318.4118781915046,
+            -0.2867491682346106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            373.1569172611887,
+            -315.4118781915046,
+            -0.2867491682346106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            373.1569172611887,
+            -312.4118781915046,
+            -0.2867491682346106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            373.1569172611887,
+            -309.4118781915046,
+            -0.2867491682346106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            373.1569172611887,
+            -306.4118781915046,
+            -0.2867491682346106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            373.1569172611887,
+            -303.4118781915046,
+            -0.2867491682346106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            373.1569172611887,
+            -300.4118781915046,
+            -0.2867491682346106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            373.1569172611887,
+            -297.4118781915046,
+            -0.2867491682346106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            373.1569172611887,
+            -294.4118781915046,
+            -0.2867491682346106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            373.1569172611887,
+            -291.4118781915046,
+            -0.2867491682346106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            373.1569172611887,
+            -288.4118781915046,
+            -0.2867491682346106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            373.1569172611887,
+            -285.4118781915046,
+            -0.2867491682346106
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            373.1569172611887,
+            -285.4118781915046,
+            -0.2867491682346106
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            373.1569172611887,
+            -285.4118781915046,
+            -0.2867491682346106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            370.5588410498354,
+            -283.9118781915046,
+            -0.2867491682346106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            367.9607648384821,
+            -282.4118781915046,
+            -0.2867491682346106
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            368.39450302124027,
+            -279.85243492126466,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-3-52_2138328364/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-3-52_2138328364/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e4b6bc96ea920762ce2ed3e0bc687cc820164fbf
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-3-52_2138328364/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            491.3538259608663,
+            -462.00192101126896,
+            -0.8696969784557691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            488.755749749513,
+            -463.50192101126896,
+            -0.8696969784557691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            486.15767353815966,
+            -465.00192101126896,
+            -0.8696969784557691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            483.55959732680634,
+            -466.50192101126896,
+            -0.8696969784557691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            480.961521115453,
+            -468.00192101126896,
+            -0.8696969784557691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            478.3634449040997,
+            -469.50192101126896,
+            -0.8696969784557691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            475.7653686927464,
+            -471.00192101126896,
+            -0.8696969784557691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            473.1672924813931,
+            -472.50192101126896,
+            -0.8696969784557691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            470.56921627003976,
+            -474.00192101126896,
+            -0.8696969784557691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            467.97114005868644,
+            -475.50192101126896,
+            -0.8696969784557691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            465.3730638473331,
+            -477.00192101126896,
+            -0.8696969784557691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            462.7749876359798,
+            -478.50192101126896,
+            -0.8696969784557691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            460.1769114246265,
+            -480.00192101126896,
+            -0.8696969784557691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            457.5788352132732,
+            -481.50192101126896,
+            -0.8696969784557691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            454.98075900191986,
+            -483.00192101126896,
+            -0.8696969784557691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            452.38268279056655,
+            -484.50192101126896,
+            -0.8696969784557691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            449.78460657921323,
+            -486.00192101126896,
+            -0.8696969784557691
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            449.78460657921323,
+            -486.00192101126896,
+            -0.8696969784557691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            448.28460657921323,
+            -488.5999972226223,
+            -0.8696969784557691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            446.78460657921323,
+            -491.1980734339756,
+            -0.8696969784557691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            445.28460657921323,
+            -493.7961496453289,
+            -0.8696969784557691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            443.78460657921323,
+            -496.3942258566822,
+            -0.8696969784557691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            442.28460657921323,
+            -498.99230206803554,
+            -0.8696969784557691
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            443.92731246948244,
+            -500.4978652954102,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-38-45_931336718/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-38-45_931336718/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cd8353150bd1abe94f7683c9fc00d69f5fdf2c72
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-38-45_931336718/pose.jsonl
@@ -0,0 +1,391 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1497.5690448262956,
+            62.43719796108862,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1496.0690448262956,
+            59.839121749735305,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1494.5690448262956,
+            57.24104553838199,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1493.0690448262956,
+            54.64296932702867,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1491.5690448262956,
+            52.04489311567536,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1490.0690448262956,
+            49.44681690432204,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1488.5690448262956,
+            46.848740692968725,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1487.0690448262956,
+            44.25066448161541,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1485.5690448262956,
+            41.65258827026209,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1484.0690448262956,
+            39.05451205890878,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1482.5690448262956,
+            36.45643584755546,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1481.0690448262956,
+            33.858359636202145,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1479.5690448262956,
+            31.26028342484883,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1478.0690448262956,
+            28.662207213495513,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1476.5690448262956,
+            26.064131002142197,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1475.0690448262956,
+            23.46605479078888,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1473.5690448262956,
+            20.867978579435565,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1472.0690448262956,
+            18.26990236808225,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1470.5690448262956,
+            15.671826156728933,
+            -1.3147910591269447
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1470.5690448262956,
+            15.671826156728933,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1467.9709686149422,
+            14.171826156728933,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1465.3728924035888,
+            12.671826156728933,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1462.7748161922354,
+            11.171826156728933,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1460.176739980882,
+            9.671826156728933,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1457.5786637695287,
+            8.171826156728933,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1454.9805875581753,
+            6.671826156728933,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1452.382511346822,
+            5.171826156728933,
+            -1.3147910591269447
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1452.382511346822,
+            5.171826156728933,
+            -1.3147910591269447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1450.882511346822,
+            2.573749945375617,
+            -1.3147910591269447
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1448.3586029052735,
+            -0.4004184722900391,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-4-40_1211270210/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-4-40_1211270210/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5a4ab76bc08af78a4812ce4774f6318e92213d2a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-4-40_1211270210/pose.jsonl
@@ -0,0 +1,248 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            198.52844504767788,
+            -230.96842114854348,
+            -2.9086222037598377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            201.1265212590312,
+            -229.46842114854348,
+            -2.9086222037598377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            203.7245974703845,
+            -227.96842114854348,
+            -2.9086222037598377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            206.32267368173783,
+            -226.46842114854348,
+            -2.9086222037598377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            208.92074989309114,
+            -224.96842114854348,
+            -2.9086222037598377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            211.51882610444446,
+            -223.46842114854348,
+            -2.9086222037598377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            214.11690231579777,
+            -221.96842114854348,
+            -2.9086222037598377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            216.7149785271511,
+            -220.46842114854348,
+            -2.9086222037598377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            219.3130547385044,
+            -218.96842114854348,
+            -2.9086222037598377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            221.91113094985772,
+            -217.46842114854348,
+            -2.9086222037598377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            224.50920716121104,
+            -215.96842114854348,
+            -2.9086222037598377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            227.10728337256435,
+            -214.46842114854348,
+            -2.9086222037598377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            229.70535958391767,
+            -212.96842114854348,
+            -2.9086222037598377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            232.30343579527099,
+            -211.46842114854348,
+            -2.9086222037598377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            234.9015120066243,
+            -209.96842114854348,
+            -2.9086222037598377
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            234.9015120066243,
+            -209.96842114854348,
+            -2.9086222037598377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            236.4015120066243,
+            -207.37034493719017,
+            -2.9086222037598377
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            237.9015120066243,
+            -204.77226872583685,
+            -2.9086222037598377
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            241.1424083709717,
+            -202.41772613525393,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-9-17_1865033882/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-9-17_1865033882/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..875527e7c56dbd4202bf86d43edfdf23bf100073
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-9-17_1865033882/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            113.54112230199726,
+            197.2306937487349,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            110.94304609064395,
+            195.7306937487349,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            108.34496987929063,
+            194.2306937487349,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            105.74689366793731,
+            192.7306937487349,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            103.148817456584,
+            191.2306937487349,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            100.55074124523068,
+            189.7306937487349,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            97.95266503387737,
+            188.2306937487349,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            95.35458882252405,
+            186.7306937487349,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            92.75651261117073,
+            185.2306937487349,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            90.15843639981742,
+            183.7306937487349,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            87.5603601884641,
+            182.2306937487349,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            84.96228397711079,
+            180.7306937487349,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            82.36420776575747,
+            179.2306937487349,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            79.76613155440415,
+            177.7306937487349,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            77.16805534305084,
+            176.2306937487349,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            74.56997913169752,
+            174.7306937487349,
+            -1.7978366171833446
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            74.56997913169752,
+            174.7306937487349,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            73.06997913169752,
+            172.13261753738158,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            71.56997913169752,
+            169.53454132602826,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            70.06997913169752,
+            166.93646511467495,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            68.56997913169752,
+            164.33838890332163,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            67.06997913169752,
+            161.7403126919683,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            65.56997913169752,
+            159.142236480615,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            64.06997913169752,
+            156.54416026926168,
+            -1.7978366171833446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            62.56997913169752,
+            153.94608405790837,
+            -1.7978366171833446
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            59.49086513519288,
+            153.78228397369386,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-27-19_1418468232/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-27-19_1418468232/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..611832e94480813cf4150acbbf3a239d972883df
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-27-19_1418468232/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            124.70793102057104,
+            30.84546061685694,
+            -3.8386389664532334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            126.20793102057104,
+            33.443536828210256,
+            -3.8386389664532334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            127.70793102057104,
+            36.04161303956357,
+            -3.8386389664532334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            129.20793102057104,
+            38.63968925091689,
+            -3.8386389664532334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            130.70793102057104,
+            41.237765462270204,
+            -3.8386389664532334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            132.20793102057104,
+            43.83584167362352,
+            -3.8386389664532334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            133.70793102057104,
+            46.433917884976836,
+            -3.8386389664532334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            135.20793102057104,
+            49.03199409633015,
+            -3.8386389664532334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            136.70793102057104,
+            51.63007030768347,
+            -3.8386389664532334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            138.20793102057104,
+            54.228146519036784,
+            -3.8386389664532334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            139.70793102057104,
+            56.8262227303901,
+            -3.8386389664532334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            141.20793102057104,
+            59.424298941743416,
+            -3.8386389664532334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            142.70793102057104,
+            62.02237515309673,
+            -3.8386389664532334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            144.20793102057104,
+            64.62045136445005,
+            -3.8386389664532334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            145.70793102057104,
+            67.21852757580336,
+            -3.8386389664532334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            147.20793102057104,
+            69.81660378715668,
+            -3.8386389664532334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            148.70793102057104,
+            72.41467999851,
+            -3.8386389664532334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            150.20793102057104,
+            75.01275620986331,
+            -3.8386389664532334
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            150.20793102057104,
+            75.01275620986331,
+            -3.8386389664532334
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            150.20793102057104,
+            75.01275620986331,
+            -3.8386389664532334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.220446049250313e-16
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            153.20793102057104,
+            75.01275620986331,
+            -3.8386389664532334
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.220446049250313e-16
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            156.30504608154297,
+            75.66667518615724,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-42-48_2142919358/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-42-48_2142919358/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a5c2f5ace76dd3a6ab8c8ecfadf91bc20e8d0eb4
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-42-48_2142919358/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            85.8083843261314,
+            0.3817255885357298,
+            -0.4143703936620575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            85.8083843261314,
+            -2.61827441146427,
+            -0.4143703936620575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            85.8083843261314,
+            -5.61827441146427,
+            -0.4143703936620575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            85.8083843261314,
+            -8.61827441146427,
+            -0.4143703936620575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            85.8083843261314,
+            -11.61827441146427,
+            -0.4143703936620575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            85.8083843261314,
+            -14.61827441146427,
+            -0.4143703936620575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            85.8083843261314,
+            -17.61827441146427,
+            -0.4143703936620575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            85.8083843261314,
+            -20.61827441146427,
+            -0.4143703936620575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            85.8083843261314,
+            -23.61827441146427,
+            -0.4143703936620575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            85.8083843261314,
+            -26.61827441146427,
+            -0.4143703936620575
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            85.8083843261314,
+            -26.61827441146427,
+            -0.4143703936620575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            84.3083843261314,
+            -29.216350622817586,
+            -0.4143703936620575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            82.8083843261314,
+            -31.814426834170902,
+            -0.4143703936620575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            81.3083843261314,
+            -34.41250304552422,
+            -0.4143703936620575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            79.8083843261314,
+            -37.010579256877534,
+            -0.4143703936620575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            78.3083843261314,
+            -39.60865546823085,
+            -0.4143703936620575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            76.8083843261314,
+            -42.206731679584166,
+            -0.4143703936620575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            75.3083843261314,
+            -44.80480789093748,
+            -0.4143703936620575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            73.8083843261314,
+            -47.4028841022908,
+            -0.4143703936620575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            72.3083843261314,
+            -50.000960313644114,
+            -0.4143703936620575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            70.8083843261314,
+            -52.59903652499743,
+            -0.4143703936620575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            69.3083843261314,
+            -55.197112736350746,
+            -0.4143703936620575
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            70.69211120605469,
+            -56.732511901855474,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-46-42_1483732493/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-46-42_1483732493/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a07c1daf310e7b497be71f236c7dfa19d536b691
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-46-42_1483732493/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            202.67099398835592,
+            252.5729185476172,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            204.17099398835592,
+            249.9748423362639,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            205.67099398835592,
+            247.37676612491057,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            207.17099398835592,
+            244.77868991355726,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            208.67099398835592,
+            242.18061370220394,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            210.17099398835592,
+            239.58253749085063,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            211.67099398835592,
+            236.9844612794973,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            213.17099398835592,
+            234.386385068144,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            214.67099398835592,
+            231.78830885679068,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            216.17099398835592,
+            229.19023264543736,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            217.67099398835592,
+            226.59215643408405,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            219.17099398835592,
+            223.99408022273073,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            220.67099398835592,
+            221.3960040113774,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            222.17099398835592,
+            218.7979278000241,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            223.67099398835592,
+            216.19985158867078,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            225.17099398835592,
+            213.60177537731747,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            226.67099398835592,
+            211.00369916596415,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            228.17099398835592,
+            208.40562295461083,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            229.67099398835592,
+            205.80754674325752,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            231.17099398835592,
+            203.2094705319042,
+            -1.8383344018777041
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            231.17099398835592,
+            203.2094705319042,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            233.76907019970923,
+            201.7094705319042,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            236.36714641106255,
+            200.2094705319042,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            238.96522262241587,
+            198.7094705319042,
+            -1.8383344018777041
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            241.56329883376918,
+            197.2094705319042,
+            -1.8383344018777041
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            243.237640953064,
+            194.2933292388916,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-56-41_1458757446/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-56-41_1458757446/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..af94ed99792ef454e203d9c3796fb5b8ba45d30c
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-56-41_1458757446/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            230.26823633178395,
+            -466.53231702318874,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            232.86631254313727,
+            -468.03231702318874,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            235.46438875449059,
+            -469.53231702318874,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            238.0624649658439,
+            -471.03231702318874,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            240.66054117719722,
+            -472.53231702318874,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            243.25861738855053,
+            -474.03231702318874,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            245.85669359990385,
+            -475.53231702318874,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            248.45476981125717,
+            -477.03231702318874,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            251.05284602261048,
+            -478.53231702318874,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            253.6509222339638,
+            -480.03231702318874,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            256.2489984453171,
+            -481.53231702318874,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            258.84707465667043,
+            -483.03231702318874,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            261.44515086802375,
+            -484.53231702318874,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            264.04322707937706,
+            -486.03231702318874,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            266.6413032907304,
+            -487.53231702318874,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            269.2393795020837,
+            -489.03231702318874,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            271.837455713437,
+            -490.53231702318874,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            274.4355319247903,
+            -492.03231702318874,
+            -2.0727286473875974
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            274.4355319247903,
+            -492.03231702318874,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            275.9355319247903,
+            -494.63039323454205,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            277.4355319247903,
+            -497.22846944589537,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            278.9355319247903,
+            -499.8265456572487,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            280.4355319247903,
+            -502.424621868602,
+            -2.0727286473875974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            281.9355319247903,
+            -505.0226980799553,
+            -2.0727286473875974
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            283.3368732452393,
+            -507.865353012085,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-56-54_136561149/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-56-54_136561149/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2e0bcaeb0fe8e9b29df7a4848a6006957f9424e3
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-56-54_136561149/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -91.42718628783273,
+            -434.8178392974542,
+            -5.962020574875241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -94.02526249918604,
+            -433.3178392974542,
+            -5.962020574875241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -96.62333871053936,
+            -431.8178392974542,
+            -5.962020574875241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -99.22141492189267,
+            -430.3178392974542,
+            -5.962020574875241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -101.81949113324599,
+            -428.8178392974542,
+            -5.962020574875241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -104.4175673445993,
+            -427.3178392974542,
+            -5.962020574875241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -107.01564355595262,
+            -425.8178392974542,
+            -5.962020574875241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -109.61371976730594,
+            -424.3178392974542,
+            -5.962020574875241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -112.21179597865925,
+            -422.8178392974542,
+            -5.962020574875241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -114.80987219001257,
+            -421.3178392974542,
+            -5.962020574875241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -117.40794840136589,
+            -419.8178392974542,
+            -5.962020574875241
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -117.40794840136589,
+            -419.8178392974542,
+            -5.962020574875241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -118.90794840136589,
+            -417.2197630861009,
+            -5.962020574875241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -120.40794840136589,
+            -414.6216868747476,
+            -5.962020574875241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -121.90794840136589,
+            -412.02361066339427,
+            -5.962020574875241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -123.40794840136589,
+            -409.42553445204095,
+            -5.962020574875241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -124.90794840136589,
+            -406.82745824068763,
+            -5.962020574875241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -126.40794840136589,
+            -404.2293820293343,
+            -5.962020574875241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -127.90794840136589,
+            -401.631305817981,
+            -5.962020574875241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -129.40794840136587,
+            -399.0332296066277,
+            -5.962020574875241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -129.16454372406008,
+            -397.39995117187505,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-6-40_1051527998/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-6-40_1051527998/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2a52fc5ac7766514a3a907c12c6e87fe63214762
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-6-40_1051527998/pose.jsonl
@@ -0,0 +1,222 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            653.085694618916,
+            11.5367971946403,
+            -5.408096991417185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            650.4876184075626,
+            13.0367971946403,
+            -5.408096991417185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            647.8895421962093,
+            14.5367971946403,
+            -5.408096991417185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            645.2914659848559,
+            16.0367971946403,
+            -5.408096991417185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            642.6933897735025,
+            17.5367971946403,
+            -5.408096991417185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            640.0953135621492,
+            19.0367971946403,
+            -5.408096991417185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            637.4972373507958,
+            20.5367971946403,
+            -5.408096991417185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            634.8991611394424,
+            22.0367971946403,
+            -5.408096991417185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            632.301084928089,
+            23.5367971946403,
+            -5.408096991417185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            629.7030087167357,
+            25.0367971946403,
+            -5.408096991417185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            627.1049325053823,
+            26.5367971946403,
+            -5.408096991417185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            624.5068562940289,
+            28.0367971946403,
+            -5.408096991417185
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            624.5068562940289,
+            28.0367971946403,
+            -5.408096991417185
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            624.5068562940289,
+            28.0367971946403,
+            -5.408096991417185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.570796326794906
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            624.5068562940289,
+            31.0367971946403,
+            -5.408096991417185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            624.5068562940289,
+            34.0367971946403,
+            -5.408096991417185
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            611.1197254180909,
+            43.554152965545654,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-7-54_943116035/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-7-54_943116035/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..aa29f132dcdbeee8105ed598782af1050509d593
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-7-54_943116035/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1348.764299256885,
+            -133.25342815469978,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1350.264299256885,
+            -135.8515043660531,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1351.764299256885,
+            -138.4495805774064,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1353.264299256885,
+            -141.04765678875972,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1354.764299256885,
+            -143.64573300011304,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1356.264299256885,
+            -146.24380921146636,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1357.764299256885,
+            -148.84188542281967,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1359.264299256885,
+            -151.439961634173,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1360.764299256885,
+            -154.0380378455263,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1362.264299256885,
+            -156.63611405687962,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1363.764299256885,
+            -159.23419026823294,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1365.264299256885,
+            -161.83226647958625,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1366.764299256885,
+            -164.43034269093957,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1368.264299256885,
+            -167.02841890229288,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1369.764299256885,
+            -169.6264951136462,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1371.264299256885,
+            -172.22457132499952,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1372.764299256885,
+            -174.82264753635283,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1374.264299256885,
+            -177.42072374770615,
+            -9.254395426717288
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1374.264299256885,
+            -177.42072374770615,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1374.264299256885,
+            -180.42072374770615,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1374.264299256885,
+            -183.42072374770615,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1374.264299256885,
+            -186.42072374770615,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1374.264299256885,
+            -189.42072374770615,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1374.264299256885,
+            -192.42072374770615,
+            -9.254395426717288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1374.264299256885,
+            -195.42072374770615,
+            -9.254395426717288
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1374.3149368286133,
+            -198.07321910858155,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-1-22_128419117/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-1-22_128419117/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4d07fd47ce492813e35069dd8f70af621dbc7bd3
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-1-22_128419117/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1356.6715502596803,
+            109.91844743769681,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1358.1715502596803,
+            112.51652364905013,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1359.6715502596803,
+            115.11459986040344,
+            -2.046047024661722
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1359.6715502596803,
+            115.11459986040344,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1362.2696264710337,
+            116.61459986040344,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1364.867702682387,
+            118.11459986040344,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1367.4657788937404,
+            119.61459986040344,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1370.0638551050938,
+            121.11459986040344,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1372.6619313164472,
+            122.61459986040344,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1375.2600075278006,
+            124.11459986040344,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1377.858083739154,
+            125.61459986040344,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1380.4561599505073,
+            127.11459986040344,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1383.0542361618607,
+            128.61459986040344,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1385.652312373214,
+            130.11459986040344,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1388.2503885845674,
+            131.61459986040344,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1390.8484647959208,
+            133.11459986040344,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1393.4465410072742,
+            134.61459986040344,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1396.0446172186275,
+            136.11459986040344,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1398.642693429981,
+            137.61459986040344,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1401.2407696413343,
+            139.11459986040344,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1403.8388458526877,
+            140.61459986040344,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1406.436922064041,
+            142.11459986040344,
+            -2.046047024661722
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1406.436922064041,
+            142.11459986040344,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1407.936922064041,
+            144.71267607175676,
+            -2.046047024661722
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1409.436922064041,
+            147.31075228311008,
+            -2.046047024661722
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1412.041893005371,
+            150.22052021026613,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-13-53_371591002/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-13-53_371591002/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2bc120aa9ea1ac519de6ec01d96170d6ef408dd5
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-13-53_371591002/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            535.119174588047,
+            -293.8509510322977,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            533.619174588047,
+            -296.449027243651,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            532.119174588047,
+            -299.04710345500433,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            530.619174588047,
+            -301.64517966635765,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            529.119174588047,
+            -304.24325587771096,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            527.619174588047,
+            -306.8413320890643,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            526.119174588047,
+            -309.4394083004176,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            524.619174588047,
+            -312.0374845117709,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            523.119174588047,
+            -314.63556072312423,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            521.619174588047,
+            -317.23363693447754,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            520.119174588047,
+            -319.83171314583086,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            518.619174588047,
+            -322.4297893571842,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            517.119174588047,
+            -325.0278655685375,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            515.619174588047,
+            -327.6259417798908,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            514.119174588047,
+            -330.2240179912441,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            512.619174588047,
+            -332.82209420259744,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            511.11917458804703,
+            -335.42017041395076,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            509.61917458804703,
+            -338.0182466253041,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            508.11917458804703,
+            -340.6163228366574,
+            -8.804465963550696
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            508.11917458804703,
+            -340.6163228366574,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            508.11917458804703,
+            -343.6163228366574,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            508.11917458804703,
+            -346.6163228366574,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            508.11917458804703,
+            -349.6163228366574,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            508.11917458804703,
+            -352.6163228366574,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            508.11917458804703,
+            -355.6163228366574,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            508.11917458804703,
+            -358.6163228366574,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            508.11917458804703,
+            -361.6163228366574,
+            -8.804465963550696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            508.11917458804703,
+            -364.6163228366574,
+            -8.804465963550696
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            507.2775932312012,
+            -365.6789970397949,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-24-49_1226351142/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-24-49_1226351142/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b7e7f112ea08365d53b9bd8a572ad545ab4d0d80
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-24-49_1226351142/pose.jsonl
@@ -0,0 +1,248 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -158.40031288710156,
+            -416.8595088029101,
+            -6.357452353962382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -160.99838909845488,
+            -418.3595088029101,
+            -6.357452353962382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -163.5964653098082,
+            -419.8595088029101,
+            -6.357452353962382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -166.1945415211615,
+            -421.3595088029101,
+            -6.357452353962382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -168.79261773251483,
+            -422.8595088029101,
+            -6.357452353962382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -171.39069394386814,
+            -424.3595088029101,
+            -6.357452353962382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -173.98877015522146,
+            -425.8595088029101,
+            -6.357452353962382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -176.58684636657478,
+            -427.3595088029101,
+            -6.357452353962382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -179.1849225779281,
+            -428.8595088029101,
+            -6.357452353962382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -181.7829987892814,
+            -430.3595088029101,
+            -6.357452353962382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -184.38107500063472,
+            -431.8595088029101,
+            -6.357452353962382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -186.97915121198804,
+            -433.3595088029101,
+            -6.357452353962382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -189.57722742334136,
+            -434.8595088029101,
+            -6.357452353962382
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -189.57722742334136,
+            -434.8595088029101,
+            -6.357452353962382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -192.57722742334136,
+            -434.8595088029101,
+            -6.357452353962382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -195.57722742334136,
+            -434.8595088029101,
+            -6.357452353962382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -198.57722742334136,
+            -434.8595088029101,
+            -6.357452353962382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -201.57722742334136,
+            -434.8595088029101,
+            -6.357452353962382
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -204.17917842864992,
+            -437.0482559204102,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-28-34_496612959/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-28-34_496612959/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d5ec32694f97dfaa88cb5d73ddf4bcd2bc16cd2f
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-28-34_496612959/pose.jsonl
@@ -0,0 +1,404 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -37.2345972117576,
+            -612.4550196825012,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -34.2345972117576,
+            -612.4550196825012,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -31.234597211757603,
+            -612.4550196825012,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -28.234597211757603,
+            -612.4550196825012,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -25.234597211757603,
+            -612.4550196825012,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -22.234597211757603,
+            -612.4550196825012,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -19.234597211757603,
+            -612.4550196825012,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -16.234597211757603,
+            -612.4550196825012,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -13.234597211757603,
+            -612.4550196825012,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -10.234597211757603,
+            -612.4550196825012,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -7.2345972117576025,
+            -612.4550196825012,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -4.2345972117576025,
+            -612.4550196825012,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1.2345972117576025,
+            -612.4550196825012,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1.7654027882423975,
+            -612.4550196825012,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            4.7654027882423975,
+            -612.4550196825012,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            7.7654027882423975,
+            -612.4550196825012,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            10.765402788242397,
+            -612.4550196825012,
+            -7.72062302103595
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            10.765402788242397,
+            -612.4550196825012,
+            -7.72062302103595
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            10.765402788242397,
+            -612.4550196825012,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            12.265402788242397,
+            -609.8569434711478,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            13.765402788242397,
+            -607.2588672597944,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            15.265402788242397,
+            -604.6607910484411,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            16.765402788242397,
+            -602.0627148370877,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            18.265402788242397,
+            -599.4646386257343,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            19.765402788242397,
+            -596.866562414381,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            21.265402788242397,
+            -594.2684862030276,
+            -7.72062302103595
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            21.265402788242397,
+            -594.2684862030276,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            23.863478999595714,
+            -592.7684862030276,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            26.46155521094903,
+            -591.2684862030276,
+            -7.72062302103595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            29.059631422302346,
+            -589.7684862030276,
+            -7.72062302103595
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            29.783947944641117,
+            -587.6620632171631,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-37-11_472562275/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-37-11_472562275/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4c3677341674043f6cfd101237f58c8e6e57b7
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-37-11_472562275/pose.jsonl
@@ -0,0 +1,248 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            535.377020503586,
+            -187.3300588406344,
+            -8.361902860263836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            532.7789442922326,
+            -188.8300588406344,
+            -8.361902860263836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            530.1808680808792,
+            -190.3300588406344,
+            -8.361902860263836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            527.5827918695259,
+            -191.8300588406344,
+            -8.361902860263836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            524.9847156581725,
+            -193.3300588406344,
+            -8.361902860263836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            522.3866394468191,
+            -194.8300588406344,
+            -8.361902860263836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            519.7885632354657,
+            -196.3300588406344,
+            -8.361902860263836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            517.1904870241124,
+            -197.8300588406344,
+            -8.361902860263836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            514.592410812759,
+            -199.3300588406344,
+            -8.361902860263836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            511.9943346014057,
+            -200.8300588406344,
+            -8.361902860263836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            509.39625839005237,
+            -202.3300588406344,
+            -8.361902860263836
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            509.39625839005237,
+            -202.3300588406344,
+            -8.361902860263836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            507.89625839005237,
+            -204.9281350519877,
+            -8.361902860263836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            506.39625839005237,
+            -207.52621126334103,
+            -8.361902860263836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            504.89625839005237,
+            -210.12428747469434,
+            -8.361902860263836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            503.39625839005237,
+            -212.72236368604766,
+            -8.361902860263836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            501.89625839005237,
+            -215.32043989740097,
+            -8.361902860263836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            500.39625839005237,
+            -217.9185161087543,
+            -8.361902860263836
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            485.3397609710694,
+            -231.23137340545657,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-50-35_1154349542/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-50-35_1154349542/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90c89100a51368e4864e7af7fb401e7d19b9afd0
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-50-35_1154349542/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -44.509279173393665,
+            176.6854120577905,
+            -2.266152672989059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -44.509279173393665,
+            173.6854120577905,
+            -2.266152672989059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -44.509279173393665,
+            170.6854120577905,
+            -2.266152672989059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -44.509279173393665,
+            167.6854120577905,
+            -2.266152672989059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -44.509279173393665,
+            164.6854120577905,
+            -2.266152672989059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -44.509279173393665,
+            161.6854120577905,
+            -2.266152672989059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -44.509279173393665,
+            158.6854120577905,
+            -2.266152672989059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -44.509279173393665,
+            155.6854120577905,
+            -2.266152672989059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -44.509279173393665,
+            152.6854120577905,
+            -2.266152672989059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -44.509279173393665,
+            149.6854120577905,
+            -2.266152672989059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -44.509279173393665,
+            146.6854120577905,
+            -2.266152672989059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -44.509279173393665,
+            143.6854120577905,
+            -2.266152672989059
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -44.509279173393665,
+            143.6854120577905,
+            -2.266152672989059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -46.009279173393665,
+            141.08733584643718,
+            -2.266152672989059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -47.509279173393665,
+            138.48925963508387,
+            -2.266152672989059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -49.009279173393665,
+            135.89118342373055,
+            -2.266152672989059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -50.509279173393665,
+            133.29310721237724,
+            -2.266152672989059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -52.009279173393665,
+            130.69503100102392,
+            -2.266152672989059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -53.509279173393665,
+            128.0969547896706,
+            -2.266152672989059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -55.009279173393665,
+            125.49887857831729,
+            -2.266152672989059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -56.509279173393665,
+            122.90080236696397,
+            -2.266152672989059
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -58.009279173393665,
+            120.30272615561066,
+            -2.266152672989059
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -58.67859439849854,
+            118.20751323699952,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-59-42_1962928545/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-59-42_1962928545/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..782b8adb4e4194acd2e47b872b5cde6aaeb2cc58
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-59-42_1962928545/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            765.4078862553658,
+            -521.8311027336811,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            765.4078862553658,
+            -518.8311027336811,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            765.4078862553658,
+            -515.8311027336811,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            765.4078862553658,
+            -512.8311027336811,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            765.4078862553658,
+            -509.83110273368106,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            765.4078862553658,
+            -506.83110273368106,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            765.4078862553658,
+            -503.83110273368106,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            765.4078862553658,
+            -500.83110273368106,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            765.4078862553658,
+            -497.83110273368106,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            765.4078862553658,
+            -494.83110273368106,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            765.4078862553658,
+            -491.83110273368106,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            765.4078862553658,
+            -488.83110273368106,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            765.4078862553658,
+            -485.83110273368106,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            765.4078862553658,
+            -482.83110273368106,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            765.4078862553658,
+            -479.83110273368106,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            765.4078862553658,
+            -476.83110273368106,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            765.4078862553658,
+            -473.83110273368106,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            765.4078862553658,
+            -470.83110273368106,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            765.4078862553658,
+            -467.83110273368106,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            765.4078862553658,
+            -464.83110273368106,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            765.4078862553658,
+            -461.83110273368106,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            765.4078862553658,
+            -458.83110273368106,
+            -8.784814768407186
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            765.4078862553658,
+            -458.83110273368106,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            766.9078862553658,
+            -456.23302652232775,
+            -8.784814768407186
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            768.4078862553658,
+            -453.63495031097443,
+            -8.784814768407186
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            770.3367736816407,
+            -451.65129089355474,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-6-5_1979575260/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-6-5_1979575260/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b500b0f04f6dfcd8b6f48dbc12871deba471b6e
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-6-5_1979575260/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -85.46499735414369,
+            -181.61496127844265,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -86.96499735414369,
+            -179.01688506708933,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -88.46499735414369,
+            -176.41880885573602,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -89.96499735414369,
+            -173.8207326443827,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -91.46499735414369,
+            -171.22265643302939,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -92.96499735414369,
+            -168.62458022167607,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -94.46499735414369,
+            -166.02650401032275,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -95.96499735414369,
+            -163.42842779896944,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -97.46499735414369,
+            -160.83035158761612,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -98.96499735414369,
+            -158.2322753762628,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -100.46499735414369,
+            -155.6341991649095,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -101.96499735414369,
+            -153.03612295355617,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -103.46499735414369,
+            -150.43804674220286,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -104.96499735414369,
+            -147.83997053084954,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -106.46499735414369,
+            -145.24189431949623,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -107.96499735414369,
+            -142.6438181081429,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -109.46499735414369,
+            -140.0457418967896,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -110.96499735414369,
+            -137.44766568543628,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -112.46499735414369,
+            -134.84958947408296,
+            -3.7030780858201897
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -112.46499735414369,
+            -134.84958947408296,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -115.063073565497,
+            -133.34958947408296,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -117.66114977685032,
+            -131.84958947408296,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -120.25922598820364,
+            -130.34958947408296,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -122.85730219955695,
+            -128.84958947408296,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -125.45537841091027,
+            -127.34958947408296,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -128.0534546222636,
+            -125.84958947408296,
+            -3.7030780858201897
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -130.6515308336169,
+            -124.34958947408296,
+            -3.7030780858201897
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -133.47221508026124,
+            -121.93247375488282,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-7-31_1026488339/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-7-31_1026488339/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d487d1c96cd8d6fa58f82dde520d5c5d66f7874b
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-7-31_1026488339/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            347.1966759504131,
+            -279.11122694146053,
+            -0.31321031315776615
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            350.1966759504131,
+            -279.11122694146053,
+            -0.31321031315776615
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            353.1966759504131,
+            -279.11122694146053,
+            -0.31321031315776615
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            356.1966759504131,
+            -279.11122694146053,
+            -0.31321031315776615
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            359.1966759504131,
+            -279.11122694146053,
+            -0.31321031315776615
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            359.1966759504131,
+            -279.11122694146053,
+            -0.31321031315776615
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            361.79475216176644,
+            -277.61122694146053,
+            -0.31321031315776615
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            364.39282837311976,
+            -276.11122694146053,
+            -0.31321031315776615
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            366.99090458447307,
+            -274.61122694146053,
+            -0.31321031315776615
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            369.5889807958264,
+            -273.11122694146053,
+            -0.31321031315776615
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            372.1870570071797,
+            -271.61122694146053,
+            -0.31321031315776615
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            374.785133218533,
+            -270.11122694146053,
+            -0.31321031315776615
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            377.38320942988634,
+            -268.61122694146053,
+            -0.31321031315776615
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            379.98128564123965,
+            -267.11122694146053,
+            -0.31321031315776615
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            382.57936185259297,
+            -265.61122694146053,
+            -0.31321031315776615
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            385.1774380639463,
+            -264.11122694146053,
+            -0.31321031315776615
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            387.7755142752996,
+            -262.61122694146053,
+            -0.31321031315776615
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            390.3735904866529,
+            -261.11122694146053,
+            -0.31321031315776615
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            390.3735904866529,
+            -261.11122694146053,
+            -0.31321031315776615
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            393.3735904866529,
+            -261.11122694146053,
+            -0.31321031315776615
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            396.3735904866529,
+            -261.11122694146053,
+            -0.31321031315776615
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            399.3735904866529,
+            -261.11122694146053,
+            -0.31321031315776615
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            417.240055847168,
+            -253.0383457183838,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-7-8_861798817/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-7-8_861798817/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b3e287bfc10e50d56295de1d35e722ea426cefdf
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-7-8_861798817/pose.jsonl
@@ -0,0 +1,235 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            321.89139063844704,
+            -205.32005857173428,
+            -5.093434414022614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            321.89139063844704,
+            -202.32005857173428,
+            -5.093434414022614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            321.89139063844704,
+            -199.32005857173428,
+            -5.093434414022614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            321.89139063844704,
+            -196.32005857173428,
+            -5.093434414022614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            321.89139063844704,
+            -193.32005857173428,
+            -5.093434414022614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            321.89139063844704,
+            -190.32005857173428,
+            -5.093434414022614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            321.89139063844704,
+            -187.32005857173428,
+            -5.093434414022614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            321.89139063844704,
+            -184.32005857173428,
+            -5.093434414022614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            321.89139063844704,
+            -181.32005857173428,
+            -5.093434414022614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            321.89139063844704,
+            -178.32005857173428,
+            -5.093434414022614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            321.89139063844704,
+            -175.32005857173428,
+            -5.093434414022614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            321.89139063844704,
+            -172.32005857173428,
+            -5.093434414022614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            321.89139063844704,
+            -169.32005857173428,
+            -5.093434414022614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            321.89139063844704,
+            -166.32005857173428,
+            -5.093434414022614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            321.89139063844704,
+            -163.32005857173428,
+            -5.093434414022614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            321.89139063844704,
+            -160.32005857173428,
+            -5.093434414022614
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            321.89139063844704,
+            -157.32005857173428,
+            -5.093434414022614
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            320.9684103012085,
+            -137.41820926666261,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-10-54_1246322141/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-10-54_1246322141/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ee8cbbff5e5af10350d1514b50720adb3f4f2820
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-10-54_1246322141/pose.jsonl
@@ -0,0 +1,417 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -16.030038756869587,
+            128.3014690511215,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -13.030038756869587,
+            128.3014690511215,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -10.030038756869587,
+            128.3014690511215,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -7.030038756869587,
+            128.3014690511215,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -4.030038756869587,
+            128.3014690511215,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1.0300387568695868,
+            128.3014690511215,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1.9699612431304132,
+            128.3014690511215,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            4.969961243130413,
+            128.3014690511215,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            7.969961243130413,
+            128.3014690511215,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            10.969961243130413,
+            128.3014690511215,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            13.969961243130413,
+            128.3014690511215,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            16.969961243130413,
+            128.3014690511215,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            19.969961243130413,
+            128.3014690511215,
+            -6.925366371756198
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            19.969961243130413,
+            128.3014690511215,
+            -6.925366371756198
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            19.969961243130413,
+            128.3014690511215,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            21.469961243130413,
+            130.89954526247482,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            22.969961243130413,
+            133.49762147382813,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            24.469961243130413,
+            136.09569768518145,
+            -6.925366371756198
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            24.469961243130413,
+            136.09569768518145,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            27.06803745448373,
+            137.59569768518145,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            29.666113665837045,
+            139.09569768518145,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            32.26418987719036,
+            140.59569768518145,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            34.86226608854368,
+            142.09569768518145,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            37.46034229989699,
+            143.59569768518145,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            40.05841851125031,
+            145.09569768518145,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            42.656494722603625,
+            146.59569768518145,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            45.25457093395694,
+            148.09569768518145,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            47.85264714531026,
+            149.59569768518145,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            50.45072335666357,
+            151.09569768518145,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            53.04879956801689,
+            152.59569768518145,
+            -6.925366371756198
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            55.646875779370205,
+            154.09569768518145,
+            -6.925366371756198
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            59.49086513519288,
+            153.78228397369386,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-17-58_608427746/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-17-58_608427746/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..02a7a91baf89e10d1c96744754b491b83f0365c2
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-17-58_608427746/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -371.0469951589868,
+            -50.99744729641298,
+            -8.919393589076494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -369.5469951589868,
+            -53.595523507766295,
+            -8.919393589076494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -368.0469951589868,
+            -56.19359971911961,
+            -8.919393589076494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -366.5469951589868,
+            -58.79167593047293,
+            -8.919393589076494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -365.0469951589868,
+            -61.38975214182624,
+            -8.919393589076494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -363.5469951589868,
+            -63.98782835317956,
+            -8.919393589076494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -362.0469951589868,
+            -66.58590456453288,
+            -8.919393589076494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196599
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -360.5469951589868,
+            -69.1839807758862,
+            -8.919393589076494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -359.0469951589868,
+            -71.78205698723951,
+            -8.919393589076494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -357.5469951589868,
+            -74.38013319859283,
+            -8.919393589076494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -356.0469951589868,
+            -76.97820940994615,
+            -8.919393589076494
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -356.0469951589868,
+            -76.97820940994615,
+            -8.919393589076494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -353.4489189476335,
+            -78.47820940994615,
+            -8.919393589076494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -350.8508427362802,
+            -79.97820940994615,
+            -8.919393589076494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -348.25276652492687,
+            -81.47820940994615,
+            -8.919393589076494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -345.65469031357355,
+            -82.97820940994615,
+            -8.919393589076494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -343.05661410222024,
+            -84.47820940994615,
+            -8.919393589076494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -340.4585378908669,
+            -85.97820940994615,
+            -8.919393589076494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -337.8604616795136,
+            -87.47820940994615,
+            -8.919393589076494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -335.2623854681603,
+            -88.97820940994615,
+            -8.919393589076494
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -335.7922431945801,
+            -91.63226652145386,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-26-30_39533257/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-26-30_39533257/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9c372b83cb4bc5fe5314033e415ebc22a3efa9c0
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-26-30_39533257/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1368.0137111297697,
+            166.2082629521584,
+            -1.0196647577801983
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1365.4156349184163,
+            167.7082629521584,
+            -1.0196647577801983
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1362.817558707063,
+            169.2082629521584,
+            -1.0196647577801983
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1360.2194824957096,
+            170.7082629521584,
+            -1.0196647577801983
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1357.6214062843562,
+            172.2082629521584,
+            -1.0196647577801983
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1355.0233300730029,
+            173.7082629521584,
+            -1.0196647577801983
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1352.4252538616495,
+            175.2082629521584,
+            -1.0196647577801983
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1349.827177650296,
+            176.7082629521584,
+            -1.0196647577801983
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1347.2291014389427,
+            178.2082629521584,
+            -1.0196647577801983
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1344.6310252275894,
+            179.7082629521584,
+            -1.0196647577801983
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1342.032949016236,
+            181.2082629521584,
+            -1.0196647577801983
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1339.4348728048826,
+            182.7082629521584,
+            -1.0196647577801983
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1336.8367965935292,
+            184.2082629521584,
+            -1.0196647577801983
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1334.2387203821759,
+            185.7082629521584,
+            -1.0196647577801983
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1331.6406441708225,
+            187.2082629521584,
+            -1.0196647577801983
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1329.0425679594691,
+            188.7082629521584,
+            -1.0196647577801983
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1326.4444917481158,
+            190.2082629521584,
+            -1.0196647577801983
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1323.8464155367624,
+            191.7082629521584,
+            -1.0196647577801983
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1321.248339325409,
+            193.2082629521584,
+            -1.0196647577801983
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1318.6502631140556,
+            194.7082629521584,
+            -1.0196647577801983
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1318.4154022216799,
+            197.2680404663086,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-27-56_1959970879/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-27-56_1959970879/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e2d226dc7e30da539f9eac7279e8b26b1ef5fa8e
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-27-56_1959970879/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            421.3680927862707,
+            271.72175951346003,
+            -8.29716482767999
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            421.3680927862707,
+            268.72175951346003,
+            -8.29716482767999
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            421.3680927862707,
+            265.72175951346003,
+            -8.29716482767999
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            421.3680927862707,
+            262.72175951346003,
+            -8.29716482767999
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            421.3680927862707,
+            259.72175951346003,
+            -8.29716482767999
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            421.3680927862707,
+            256.72175951346003,
+            -8.29716482767999
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            421.3680927862707,
+            253.72175951346003,
+            -8.29716482767999
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            421.3680927862707,
+            250.72175951346003,
+            -8.29716482767999
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            421.3680927862707,
+            247.72175951346003,
+            -8.29716482767999
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            421.3680927862707,
+            244.72175951346003,
+            -8.29716482767999
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            421.3680927862707,
+            241.72175951346003,
+            -8.29716482767999
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            421.3680927862707,
+            238.72175951346003,
+            -8.29716482767999
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            421.3680927862707,
+            235.72175951346003,
+            -8.29716482767999
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            421.3680927862707,
+            232.72175951346003,
+            -8.29716482767999
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            421.3680927862707,
+            229.72175951346003,
+            -8.29716482767999
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            421.3680927862707,
+            226.72175951346003,
+            -8.29716482767999
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            421.3680927862707,
+            223.72175951346003,
+            -8.29716482767999
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            421.3680927862707,
+            220.72175951346003,
+            -8.29716482767999
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            421.3680927862707,
+            220.72175951346003,
+            -8.29716482767999
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            422.8680927862707,
+            218.1236833021067,
+            -8.29716482767999
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            423.96591529846194,
+            214.72956275939944,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-28-18_1550692118/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-28-18_1550692118/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8ce8ca1b78e772343f00c60fad1bf547b5a3d171
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-28-18_1550692118/pose.jsonl
@@ -0,0 +1,248 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            469.5736934581387,
+            239.22083139153196,
+            -1.9997162490959433
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            466.97561724678536,
+            237.72083139153196,
+            -1.9997162490959433
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            464.37754103543205,
+            236.22083139153196,
+            -1.9997162490959433
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            461.77946482407873,
+            234.72083139153196,
+            -1.9997162490959433
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            459.1813886127254,
+            233.22083139153196,
+            -1.9997162490959433
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            456.5833124013721,
+            231.72083139153196,
+            -1.9997162490959433
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            453.9852361900188,
+            230.22083139153196,
+            -1.9997162490959433
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            451.38715997866547,
+            228.72083139153196,
+            -1.9997162490959433
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            448.78908376731215,
+            227.22083139153196,
+            -1.9997162490959433
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            446.19100755595883,
+            225.72083139153196,
+            -1.9997162490959433
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            443.5929313446055,
+            224.22083139153196,
+            -1.9997162490959433
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            440.9948551332522,
+            222.72083139153196,
+            -1.9997162490959433
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            438.3967789218989,
+            221.22083139153196,
+            -1.9997162490959433
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            435.79870271054557,
+            219.72083139153196,
+            -1.9997162490959433
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            433.20062649919225,
+            218.22083139153196,
+            -1.9997162490959433
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            430.60255028783894,
+            216.72083139153196,
+            -1.9997162490959433
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            428.0044740764856,
+            215.22083139153196,
+            -1.9997162490959433
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            425.4063978651323,
+            213.72083139153196,
+            -1.9997162490959433
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            423.96591529846194,
+            214.72956275939944,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-3-22_1072628238/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-3-22_1072628238/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3cf0a4637ad0ead3d816793ea15adab5c0c71e27
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-3-22_1072628238/pose.jsonl
@@ -0,0 +1,131 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            211.59356091219837,
+            -73.50631466333127,
+            -8.957642442313231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            214.59356091219837,
+            -73.50631466333127,
+            -8.957642442313231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            217.59356091219837,
+            -73.50631466333127,
+            -8.957642442313231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            220.59356091219837,
+            -73.50631466333127,
+            -8.957642442313231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            223.59356091219837,
+            -73.50631466333127,
+            -8.957642442313231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            226.59356091219837,
+            -73.50631466333127,
+            -8.957642442313231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            229.59356091219837,
+            -73.50631466333127,
+            -8.957642442313231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            232.59356091219837,
+            -73.50631466333127,
+            -8.957642442313231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            235.59356091219837,
+            -73.50631466333127,
+            -8.957642442313231
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            283.9780300140381,
+            -80.94869422912598,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-31-16_678006046/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-31-16_678006046/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b9074f5c954348bea7ef126f14ccf776fde3d450
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-31-16_678006046/pose.jsonl
@@ -0,0 +1,66 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1122.461780964946,
+            -265.6835410561856,
+            -2.077991950627373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1122.461780964946,
+            -262.6835410561856,
+            -2.077991950627373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1122.461780964946,
+            -259.6835410561856,
+            -2.077991950627373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1122.461780964946,
+            -256.6835410561856,
+            -2.077991950627373
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1136.0676353454592,
+            -208.6565689086914,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-31-23_1810998055/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-31-23_1810998055/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f9b4f8ab455c575ad57836a52b2781703c217e17
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-31-23_1810998055/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -89.38901929423704,
+            -311.98411047619,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -87.88901929423704,
+            -314.5821866875433,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -86.38901929423704,
+            -317.1802628988966,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -84.88901929423704,
+            -319.77833911024993,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -83.38901929423704,
+            -322.37641532160325,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -81.88901929423704,
+            -324.97449153295656,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -80.38901929423704,
+            -327.5725677443099,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -78.88901929423704,
+            -330.1706439556632,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -77.38901929423704,
+            -332.7687201670165,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -75.88901929423704,
+            -335.3667963783698,
+            -8.240564434255434
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -75.88901929423704,
+            -335.3667963783698,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -73.29094308288373,
+            -336.8667963783698,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -70.69286687153041,
+            -338.3667963783698,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -68.0947906601771,
+            -339.8667963783698,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -65.49671444882378,
+            -341.3667963783698,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -62.898638237470465,
+            -342.8667963783698,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -60.30056202611715,
+            -344.3667963783698,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -57.70248581476383,
+            -345.8667963783698,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -55.10440960341052,
+            -347.3667963783698,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -52.5063333920572,
+            -348.8667963783698,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -49.908257180703885,
+            -350.3667963783698,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -47.31018096935057,
+            -351.8667963783698,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -44.71210475799725,
+            -353.3667963783698,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -42.11402854664394,
+            -354.8667963783698,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -39.51595233529062,
+            -356.3667963783698,
+            -8.240564434255434
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -36.917876123937305,
+            -357.8667963783698,
+            -8.240564434255434
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -37.04707775115967,
+            -360.1783214569092,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-57-47_773748473/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-57-47_773748473/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3348709440d30f491e62921a7835f5b30b5945f6
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-57-47_773748473/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            493.46663369979456,
+            -489.38948526048705,
+            -0.9602401841410284
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            490.46663369979456,
+            -489.38948526048705,
+            -0.9602401841410284
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            487.46663369979456,
+            -489.38948526048705,
+            -0.9602401841410284
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            484.46663369979456,
+            -489.38948526048705,
+            -0.9602401841410284
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            481.46663369979456,
+            -489.38948526048705,
+            -0.9602401841410284
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            478.46663369979456,
+            -489.38948526048705,
+            -0.9602401841410284
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            475.46663369979456,
+            -489.38948526048705,
+            -0.9602401841410284
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            472.46663369979456,
+            -489.38948526048705,
+            -0.9602401841410284
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            469.46663369979456,
+            -489.38948526048705,
+            -0.9602401841410284
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            466.46663369979456,
+            -489.38948526048705,
+            -0.9602401841410284
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            463.46663369979456,
+            -489.38948526048705,
+            -0.9602401841410284
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            463.46663369979456,
+            -489.38948526048705,
+            -0.9602401841410284
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            460.86855748844124,
+            -490.88948526048705,
+            -0.9602401841410284
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            458.2704812770879,
+            -492.38948526048705,
+            -0.9602401841410284
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            455.6724050657346,
+            -493.88948526048705,
+            -0.9602401841410284
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            453.0743288543813,
+            -495.38948526048705,
+            -0.9602401841410284
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            450.476252643028,
+            -496.88948526048705,
+            -0.9602401841410284
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            447.87817643167466,
+            -498.38948526048705,
+            -0.9602401841410284
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            445.28010022032134,
+            -499.88948526048705,
+            -0.9602401841410284
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            443.92731246948244,
+            -500.4978652954102,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-18-33_422449966/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-18-33_422449966/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cd1f254b6392d6b24a2bbcd04be83cafe3df31a4
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-18-33_422449966/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -187.4441267728283,
+            -382.98808075489376,
+            -4.520479464334569
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -188.9441267728283,
+            -385.5861569662471,
+            -4.520479464334569
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -190.4441267728283,
+            -388.1842331776004,
+            -4.520479464334569
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -191.9441267728283,
+            -390.7823093889537,
+            -4.520479464334569
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -193.4441267728283,
+            -393.380385600307,
+            -4.520479464334569
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -194.9441267728283,
+            -395.97846181166034,
+            -4.520479464334569
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -196.4441267728283,
+            -398.57653802301365,
+            -4.520479464334569
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -197.9441267728283,
+            -401.17461423436697,
+            -4.520479464334569
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -199.4441267728283,
+            -403.7726904457203,
+            -4.520479464334569
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -200.9441267728283,
+            -406.3707666570736,
+            -4.520479464334569
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -202.4441267728283,
+            -408.9688428684269,
+            -4.520479464334569
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -203.9441267728283,
+            -411.56691907978023,
+            -4.520479464334569
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -203.9441267728283,
+            -411.56691907978023,
+            -4.520479464334569
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -203.9441267728283,
+            -414.56691907978023,
+            -4.520479464334569
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -203.9441267728283,
+            -417.56691907978023,
+            -4.520479464334569
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -203.9441267728283,
+            -420.56691907978023,
+            -4.520479464334569
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -203.9441267728283,
+            -423.56691907978023,
+            -4.520479464334569
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -203.9441267728283,
+            -426.56691907978023,
+            -4.520479464334569
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -203.9441267728283,
+            -429.56691907978023,
+            -4.520479464334569
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -203.9441267728283,
+            -432.56691907978023,
+            -4.520479464334569
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -203.9441267728283,
+            -435.56691907978023,
+            -4.520479464334569
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -204.17917842864992,
+            -437.0482559204102,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-2-43_86635281/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-2-43_86635281/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..268f42742e106ba71f1903491d74c4712a0e0e06
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-2-43_86635281/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -168.51421495827915,
+            -598.3428779601988,
+            -2.200286727216919
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -167.01421495827915,
+            -600.9409541715522,
+            -2.200286727216919
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -165.51421495827915,
+            -603.5390303829056,
+            -2.200286727216919
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -164.01421495827915,
+            -606.137106594259,
+            -2.200286727216919
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -162.51421495827915,
+            -608.7351828056123,
+            -2.200286727216919
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -161.01421495827915,
+            -611.3332590169657,
+            -2.200286727216919
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -159.51421495827915,
+            -613.9313352283191,
+            -2.200286727216919
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -158.01421495827915,
+            -616.5294114396725,
+            -2.200286727216919
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -156.51421495827915,
+            -619.1274876510258,
+            -2.200286727216919
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -155.01421495827915,
+            -621.7255638623792,
+            -2.200286727216919
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -153.51421495827915,
+            -624.3236400737326,
+            -2.200286727216919
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -152.01421495827915,
+            -626.921716285086,
+            -2.200286727216919
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -150.51421495827915,
+            -629.5197924964393,
+            -2.200286727216919
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -149.01421495827915,
+            -632.1178687077927,
+            -2.200286727216919
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -147.51421495827915,
+            -634.7159449191461,
+            -2.200286727216919
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -146.01421495827915,
+            -637.3140211304994,
+            -2.200286727216919
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -146.01421495827915,
+            -637.3140211304994,
+            -2.200286727216919
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -143.41613874692584,
+            -638.8140211304994,
+            -2.200286727216919
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -140.81806253557252,
+            -640.3140211304994,
+            -2.200286727216919
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -138.2199863242192,
+            -641.8140211304994,
+            -2.200286727216919
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -135.6219101128659,
+            -643.3140211304994,
+            -2.200286727216919
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -133.02383390151257,
+            -644.8140211304994,
+            -2.200286727216919
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -130.42575769015926,
+            -646.3140211304994,
+            -2.200286727216919
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -129.48518104553224,
+            -646.8201499938965,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-21-28_390871053/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-21-28_390871053/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..371a9c5bdaf89fe281ce8f00f588269401e62d8e
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-21-28_390871053/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -93.83623316703626,
+            -587.594583461754,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -95.33623316703626,
+            -590.1926596731073,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -96.83623316703626,
+            -592.7907358844607,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -98.33623316703626,
+            -595.388812095814,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -99.83623316703626,
+            -597.9868883071674,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -101.33623316703626,
+            -600.5849645185208,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -102.83623316703626,
+            -603.1830407298742,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -104.33623316703626,
+            -605.7811169412275,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -105.83623316703626,
+            -608.3791931525809,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -107.33623316703626,
+            -610.9772693639343,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -108.83623316703626,
+            -613.5753455752877,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -110.33623316703626,
+            -616.173421786641,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -111.83623316703626,
+            -618.7714979979944,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -113.33623316703626,
+            -621.3695742093478,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -114.83623316703626,
+            -623.9676504207011,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -116.33623316703626,
+            -626.5657266320545,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -117.83623316703626,
+            -629.1638028434079,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -119.33623316703626,
+            -631.7618790547613,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -120.83623316703626,
+            -634.3599552661146,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -122.33623316703626,
+            -636.958031477468,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -123.83623316703626,
+            -639.5561076888214,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -125.33623316703626,
+            -642.1541839001748,
+            -5.870651758720748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -126.83623316703626,
+            -644.7522601115281,
+            -5.870651758720748
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -129.48518104553224,
+            -646.8201499938965,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-27-35_1310062900/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-27-35_1310062900/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..47cad881fc061910026d89ec0ef322f78e884694
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-27-35_1310062900/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            74.16693695036527,
+            58.11982363302725,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            72.66693695036527,
+            55.521747421673936,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            71.16693695036527,
+            52.92367121032062,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            69.66693695036527,
+            50.325594998967304,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            68.16693695036527,
+            47.72751878761399,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            66.66693695036527,
+            45.12944257626067,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            65.16693695036527,
+            42.531366364907356,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            63.66693695036527,
+            39.93329015355404,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            62.16693695036527,
+            37.335213942200724,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            60.66693695036527,
+            34.73713773084741,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            59.16693695036527,
+            32.13906151949409,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            57.66693695036527,
+            29.540985308140776,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            56.16693695036527,
+            26.94290909678746,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            54.66693695036527,
+            24.344832885434144,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            53.16693695036527,
+            21.746756674080828,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            51.66693695036527,
+            19.148680462727512,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            50.16693695036527,
+            16.550604251374196,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            48.66693695036527,
+            13.95252804002088,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            47.16693695036527,
+            11.354451828667564,
+            -8.987587398136085
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            47.16693695036527,
+            11.354451828667564,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            44.56886073901195,
+            9.854451828667564,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            41.97078452765864,
+            8.354451828667564,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            39.37270831630532,
+            6.854451828667564,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            36.774632104952005,
+            5.354451828667564,
+            -8.987587398136085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            34.17655589359869,
+            3.854451828667564,
+            -8.987587398136085
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            31.34878616333008,
+            1.572951889038086,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-34-47_888017808/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-34-47_888017808/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cd65bc988c339554ec7eabdb53b6f14032aa1845
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-34-47_888017808/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            466.18215536759834,
+            -451.07192799494743,
+            -5.4690214776697985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            464.68215536759834,
+            -453.67000420630075,
+            -5.4690214776697985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            463.18215536759834,
+            -456.26808041765406,
+            -5.4690214776697985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            461.68215536759834,
+            -458.8661566290074,
+            -5.4690214776697985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            460.18215536759834,
+            -461.4642328403607,
+            -5.4690214776697985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            458.68215536759834,
+            -464.062309051714,
+            -5.4690214776697985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            457.18215536759834,
+            -466.6603852630673,
+            -5.4690214776697985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            455.68215536759834,
+            -469.25846147442064,
+            -5.4690214776697985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            454.18215536759834,
+            -471.85653768577396,
+            -5.4690214776697985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            452.68215536759834,
+            -474.4546138971273,
+            -5.4690214776697985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            451.18215536759834,
+            -477.0526901084806,
+            -5.4690214776697985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            449.68215536759834,
+            -479.6507663198339,
+            -5.4690214776697985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            448.18215536759834,
+            -482.2488425311872,
+            -5.4690214776697985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            446.68215536759834,
+            -484.84691874254054,
+            -5.4690214776697985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            445.18215536759834,
+            -487.44499495389385,
+            -5.4690214776697985
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            445.18215536759834,
+            -487.44499495389385,
+            -5.4690214776697985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            445.18215536759834,
+            -490.44499495389385,
+            -5.4690214776697985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            445.18215536759834,
+            -493.44499495389385,
+            -5.4690214776697985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            445.18215536759834,
+            -496.44499495389385,
+            -5.4690214776697985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            445.18215536759834,
+            -499.44499495389385,
+            -5.4690214776697985
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            443.92731246948244,
+            -500.4978652954102,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-40-16_2108050440/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-40-16_2108050440/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8dc8dd52976ca8be8805f78b39185ea02725e092
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-40-16_2108050440/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            937.3333423773065,
+            194.37854924232283,
+            -4.917179133114486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            938.8333423773065,
+            191.78047303096952,
+            -4.917179133114486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            940.3333423773065,
+            189.1823968196162,
+            -4.917179133114486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            941.8333423773065,
+            186.58432060826289,
+            -4.917179133114486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            943.3333423773065,
+            183.98624439690957,
+            -4.917179133114486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            944.8333423773065,
+            181.38816818555625,
+            -4.917179133114486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            946.3333423773065,
+            178.79009197420294,
+            -4.917179133114486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            947.8333423773065,
+            176.19201576284962,
+            -4.917179133114486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            949.3333423773065,
+            173.5939395514963,
+            -4.917179133114486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            950.8333423773065,
+            170.995863340143,
+            -4.917179133114486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            952.3333423773065,
+            168.39778712878967,
+            -4.917179133114486
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            952.3333423773065,
+            168.39778712878967,
+            -4.917179133114486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            954.9314185886599,
+            166.89778712878967,
+            -4.917179133114486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            957.5294948000133,
+            165.39778712878967,
+            -4.917179133114486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            960.1275710113666,
+            163.89778712878967,
+            -4.917179133114486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            962.72564722272,
+            162.39778712878967,
+            -4.917179133114486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            965.3237234340734,
+            160.89778712878967,
+            -4.917179133114486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            967.9217996454267,
+            159.39778712878967,
+            -4.917179133114486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            970.5198758567801,
+            157.89778712878967,
+            -4.917179133114486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            973.1179520681335,
+            156.39778712878967,
+            -4.917179133114486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            975.7160282794869,
+            154.89778712878967,
+            -4.917179133114486
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            993.6485565185548,
+            138.21244525909424,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-47-44_184320788/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-47-44_184320788/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..133955b7dc05a25de4f89f6d30d1c42f558d72aa
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-47-44_184320788/pose.jsonl
@@ -0,0 +1,209 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            364.35886565795306,
+            -454.31563675359615,
+            -5.8602803142123445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            366.9569418693064,
+            -452.81563675359615,
+            -5.8602803142123445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            369.5550180806597,
+            -451.31563675359615,
+            -5.8602803142123445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            372.153094292013,
+            -449.81563675359615,
+            -5.8602803142123445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            374.7511705033663,
+            -448.31563675359615,
+            -5.8602803142123445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            377.34924671471964,
+            -446.81563675359615,
+            -5.8602803142123445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            379.94732292607296,
+            -445.31563675359615,
+            -5.8602803142123445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            382.5453991374263,
+            -443.81563675359615,
+            -5.8602803142123445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            385.1434753487796,
+            -442.31563675359615,
+            -5.8602803142123445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            387.7415515601329,
+            -440.81563675359615,
+            -5.8602803142123445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            390.3396277714862,
+            -439.31563675359615,
+            -5.8602803142123445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            392.93770398283954,
+            -437.81563675359615,
+            -5.8602803142123445
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            392.93770398283954,
+            -437.81563675359615,
+            -5.8602803142123445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            394.43770398283954,
+            -435.21756054224284,
+            -5.8602803142123445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            395.93770398283954,
+            -432.6194843308895,
+            -5.8602803142123445
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            410.6194187164307,
+            -422.415909576416,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-48-5_80201211/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-48-5_80201211/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..727124c0704696d4c312200d823a8381e959eb6a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-48-5_80201211/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1389.6789339260154,
+            -251.02620091244754,
+            -3.589294952371759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1387.080857714662,
+            -249.52620091244754,
+            -3.589294952371759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1384.4827815033086,
+            -248.02620091244754,
+            -3.589294952371759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1381.8847052919552,
+            -246.52620091244754,
+            -3.589294952371759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1379.2866290806019,
+            -245.02620091244754,
+            -3.589294952371759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1376.6885528692485,
+            -243.52620091244754,
+            -3.589294952371759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1374.0904766578951,
+            -242.02620091244754,
+            -3.589294952371759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1371.4924004465418,
+            -240.52620091244754,
+            -3.589294952371759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1368.8943242351884,
+            -239.02620091244754,
+            -3.589294952371759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1366.296248023835,
+            -237.52620091244754,
+            -3.589294952371759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1363.6981718124816,
+            -236.02620091244754,
+            -3.589294952371759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1361.1000956011283,
+            -234.52620091244754,
+            -3.589294952371759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1358.502019389775,
+            -233.02620091244754,
+            -3.589294952371759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1355.9039431784215,
+            -231.52620091244754,
+            -3.589294952371759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1353.3058669670681,
+            -230.02620091244754,
+            -3.589294952371759
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1353.3058669670681,
+            -230.02620091244754,
+            -3.589294952371759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1350.3058669670681,
+            -230.02620091244754,
+            -3.589294952371759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1347.3058669670681,
+            -230.02620091244754,
+            -3.589294952371759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1344.3058669670681,
+            -230.02620091244754,
+            -3.589294952371759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1341.3058669670681,
+            -230.02620091244754,
+            -3.589294952371759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1338.3058669670681,
+            -230.02620091244754,
+            -3.589294952371759
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1335.3058669670681,
+            -230.02620091244754,
+            -3.589294952371759
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1332.318264770508,
+            -228.70366058349612,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-52-4_840536404/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-52-4_840536404/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..69ad501ef4401e9edc5685738d443d32a4e628ed
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-52-4_840536404/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            175.28149357555324,
+            -563.1539631959503,
+            -2.048656695302425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            172.68341736419993,
+            -561.6539631959503,
+            -2.048656695302425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            170.0853411528466,
+            -560.1539631959503,
+            -2.048656695302425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            167.4872649414933,
+            -558.6539631959503,
+            -2.048656695302425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            164.88918873013998,
+            -557.1539631959503,
+            -2.048656695302425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            162.29111251878666,
+            -555.6539631959503,
+            -2.048656695302425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            159.69303630743335,
+            -554.1539631959503,
+            -2.048656695302425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            157.09496009608003,
+            -552.6539631959503,
+            -2.048656695302425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            154.4968838847267,
+            -551.1539631959503,
+            -2.048656695302425
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            154.4968838847267,
+            -551.1539631959503,
+            -2.048656695302425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            151.4968838847267,
+            -551.1539631959503,
+            -2.048656695302425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            148.4968838847267,
+            -551.1539631959503,
+            -2.048656695302425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            145.4968838847267,
+            -551.1539631959503,
+            -2.048656695302425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            142.4968838847267,
+            -551.1539631959503,
+            -2.048656695302425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            139.4968838847267,
+            -551.1539631959503,
+            -2.048656695302425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            136.4968838847267,
+            -551.1539631959503,
+            -2.048656695302425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            133.4968838847267,
+            -551.1539631959503,
+            -2.048656695302425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            130.4968838847267,
+            -551.1539631959503,
+            -2.048656695302425
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            130.4968838847267,
+            -551.1539631959503,
+            -2.048656695302425
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            130.4968838847267,
+            -551.1539631959503,
+            -2.048656695302425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            128.9968838847267,
+            -548.555886984597,
+            -2.048656695302425
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            127.09756164550782,
+            -547.6103538513185,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-52-52_85357096/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-52-52_85357096/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8d9a92303fbb040cfd53e27efa220e1565ca4ac0
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-52-52_85357096/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1454.087844333791,
+            -83.52226931252677,
+            -5.383144179572467
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1457.087844333791,
+            -83.52226931252677,
+            -5.383144179572467
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1460.087844333791,
+            -83.52226931252677,
+            -5.383144179572467
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1463.087844333791,
+            -83.52226931252677,
+            -5.383144179572467
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1466.087844333791,
+            -83.52226931252677,
+            -5.383144179572467
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1469.087844333791,
+            -83.52226931252677,
+            -5.383144179572467
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1472.087844333791,
+            -83.52226931252677,
+            -5.383144179572467
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1472.087844333791,
+            -83.52226931252677,
+            -5.383144179572467
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1474.6859205451444,
+            -85.02226931252677,
+            -5.383144179572467
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1477.2839967564978,
+            -86.52226931252677,
+            -5.383144179572467
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1479.8820729678512,
+            -88.02226931252677,
+            -5.383144179572467
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1482.4801491792045,
+            -89.52226931252677,
+            -5.383144179572467
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1485.078225390558,
+            -91.02226931252677,
+            -5.383144179572467
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1487.6763016019113,
+            -92.52226931252677,
+            -5.383144179572467
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1490.2743778132647,
+            -94.02226931252677,
+            -5.383144179572467
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1492.872454024618,
+            -95.52226931252677,
+            -5.383144179572467
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1495.4705302359714,
+            -97.02226931252677,
+            -5.383144179572467
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1498.0686064473248,
+            -98.52226931252677,
+            -5.383144179572467
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1500.6666826586782,
+            -100.02226931252677,
+            -5.383144179572467
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1517.6720581054688,
+            -108.54975051879883,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-55-37_1827092061/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-55-37_1827092061/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2cb79381a091049baa4aa43b6e3f99e9f837b294
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-55-37_1827092061/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -204.3751868522212,
+            -89.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -204.3751868522212,
+            -92.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -204.3751868522212,
+            -95.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -204.3751868522212,
+            -98.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -204.3751868522212,
+            -101.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -204.3751868522212,
+            -104.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -204.3751868522212,
+            -107.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -204.3751868522212,
+            -110.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -204.3751868522212,
+            -113.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -204.3751868522212,
+            -116.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -204.3751868522212,
+            -119.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -204.3751868522212,
+            -122.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -204.3751868522212,
+            -125.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -204.3751868522212,
+            -128.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -204.3751868522212,
+            -131.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -204.3751868522212,
+            -134.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -204.3751868522212,
+            -137.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -204.3751868522212,
+            -140.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -204.3751868522212,
+            -143.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -204.3751868522212,
+            -146.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -204.3751868522212,
+            -149.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -204.3751868522212,
+            -152.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -204.3751868522212,
+            -155.68688039681982,
+            -1.4430088592451948
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -203.22534084320068,
+            -159.0278995513916,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-58-37_1644817046/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-58-37_1644817046/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..03d0a8767a3bf168f62b01405aff99e4afffcbfa
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-58-37_1644817046/pose.jsonl
@@ -0,0 +1,248 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            791.3791915146895,
+            -464.42686172773165,
+            -5.820797512494573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            792.8791915146895,
+            -461.82878551637833,
+            -5.820797512494573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            794.3791915146895,
+            -459.230709305025,
+            -5.820797512494573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            795.8791915146895,
+            -456.6326330936717,
+            -5.820797512494573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            797.3791915146895,
+            -454.0345568823184,
+            -5.820797512494573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            798.8791915146895,
+            -451.43648067096507,
+            -5.820797512494573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            800.3791915146895,
+            -448.83840445961175,
+            -5.820797512494573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            801.8791915146895,
+            -446.24032824825844,
+            -5.820797512494573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            803.3791915146895,
+            -443.6422520369051,
+            -5.820797512494573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            804.8791915146895,
+            -441.0441758255518,
+            -5.820797512494573
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            804.8791915146895,
+            -441.0441758255518,
+            -5.820797512494573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            807.4772677260428,
+            -439.5441758255518,
+            -5.820797512494573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            810.0753439373962,
+            -438.0441758255518,
+            -5.820797512494573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            812.6734201487495,
+            -436.5441758255518,
+            -5.820797512494573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            815.2714963601029,
+            -435.0441758255518,
+            -5.820797512494573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            817.8695725714563,
+            -433.5441758255518,
+            -5.820797512494573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            820.4676487828096,
+            -432.0441758255518,
+            -5.820797512494573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            823.065724994163,
+            -430.5441758255518,
+            -5.820797512494573
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            833.5786102294923,
+            -416.10598869323735,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-10-28_729290176/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-10-28_729290176/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8375ec2096c97094c3614407b313fc058dabbe3f
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-10-28_729290176/pose.jsonl
@@ -0,0 +1,157 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            754.6331533315661,
+            133.99024463052785,
+            -2.276137762730471
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            757.2312295429194,
+            132.49024463052785,
+            -2.276137762730471
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            759.8293057542728,
+            130.99024463052785,
+            -2.276137762730471
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            762.4273819656262,
+            129.49024463052785,
+            -2.276137762730471
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            765.0254581769796,
+            127.99024463052785,
+            -2.276137762730471
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            767.6235343883329,
+            126.49024463052785,
+            -2.276137762730471
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            770.2216105996863,
+            124.99024463052785,
+            -2.276137762730471
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            770.2216105996863,
+            124.99024463052785,
+            -2.276137762730471
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            771.7216105996863,
+            122.39216841917454,
+            -2.276137762730471
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            773.2216105996863,
+            119.79409220782122,
+            -2.276137762730471
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            774.7216105996863,
+            117.1960159964679,
+            -2.276137762730471
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            793.9949005126954,
+            95.9690920829773,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-2-10_41268864/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-2-10_41268864/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ddcd697cffebe2856ae9465840d81c34489467b0
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-2-10_41268864/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -4.624814028118465,
+            -52.18596667578298,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -3.124814028118464,
+            -49.58789046442966,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1.6248140281184638,
+            -46.98981425307635,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -0.12481402811846332,
+            -44.39173804172303,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1.3751859718815371,
+            -41.793661830369714,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            2.8751859718815376,
+            -39.1955856190164,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            4.375185971881538,
+            -36.59750940766308,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            5.875185971881539,
+            -33.99943319630977,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965974
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            7.375185971881539,
+            -31.40135698495645,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            8.875185971881539,
+            -28.803280773603134,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            10.375185971881539,
+            -26.20520456224982,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            11.875185971881539,
+            -23.607128350896502,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            13.375185971881539,
+            -21.009052139543186,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            14.875185971881539,
+            -18.41097592818987,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            16.37518597188154,
+            -15.812899716836554,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            17.87518597188154,
+            -13.214823505483238,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            19.37518597188154,
+            -10.616747294129922,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            20.87518597188154,
+            -8.018671082776606,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            22.37518597188154,
+            -5.42059487142329,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            23.87518597188154,
+            -2.8225186600699743,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            25.37518597188154,
+            -0.2244424487166583,
+            -4.635219673277369
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            25.37518597188154,
+            -0.2244424487166583,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            27.973262183234855,
+            1.2755575512833415,
+            -4.635219673277369
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            30.57133839458817,
+            2.7755575512833413,
+            -4.635219673277369
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            31.950906944274905,
+            5.022578048706055,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-27-23_2020532420/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-27-23_2020532420/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ab83e884af40770e773ad5fd04e831183c9421b9
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-27-23_2020532420/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            352.57019690911,
+            -284.1871708034321,
+            -0.45814409087525476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            355.57019690911,
+            -284.1871708034321,
+            -0.45814409087525476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            358.57019690911,
+            -284.1871708034321,
+            -0.45814409087525476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            361.57019690911,
+            -284.1871708034321,
+            -0.45814409087525476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            364.57019690911,
+            -284.1871708034321,
+            -0.45814409087525476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            367.57019690911,
+            -284.1871708034321,
+            -0.45814409087525476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            370.57019690911,
+            -284.1871708034321,
+            -0.45814409087525476
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            370.57019690911,
+            -284.1871708034321,
+            -0.45814409087525476
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            370.57019690911,
+            -284.1871708034321,
+            -0.45814409087525476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            372.07019690911,
+            -281.58909459207877,
+            -0.45814409087525476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            373.57019690911,
+            -278.99101838072545,
+            -0.45814409087525476
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            373.57019690911,
+            -278.99101838072545,
+            -0.45814409087525476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            376.1682731204633,
+            -277.49101838072545,
+            -0.45814409087525476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            378.7663493318166,
+            -275.99101838072545,
+            -0.45814409087525476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            381.36442554316994,
+            -274.49101838072545,
+            -0.45814409087525476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            383.96250175452326,
+            -272.99101838072545,
+            -0.45814409087525476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            386.5605779658766,
+            -271.49101838072545,
+            -0.45814409087525476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            389.1586541772299,
+            -269.99101838072545,
+            -0.45814409087525476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            391.7567303885832,
+            -268.49101838072545,
+            -0.45814409087525476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            394.3548065999365,
+            -266.99101838072545,
+            -0.45814409087525476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            396.95288281128984,
+            -265.49101838072545,
+            -0.45814409087525476
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            399.55095902264316,
+            -263.99101838072545,
+            -0.45814409087525476
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            417.240055847168,
+            -253.0383457183838,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-31-56_2033018190/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-31-56_2033018190/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..437d0e49db60cd00df1ee038b5847aadc750ff75
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-31-56_2033018190/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1584.791733759042,
+            -35.61258967977973,
+            -1.576440083252276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1586.291733759042,
+            -38.21066589113305,
+            -1.576440083252276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1587.791733759042,
+            -40.80874210248636,
+            -1.576440083252276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1589.291733759042,
+            -43.40681831383968,
+            -1.576440083252276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1590.791733759042,
+            -46.004894525192995,
+            -1.576440083252276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1592.291733759042,
+            -48.60297073654631,
+            -1.576440083252276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1593.791733759042,
+            -51.20104694789963,
+            -1.576440083252276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1595.291733759042,
+            -53.79912315925294,
+            -1.576440083252276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1596.791733759042,
+            -56.39719937060626,
+            -1.576440083252276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1598.291733759042,
+            -58.995275581959575,
+            -1.576440083252276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1599.791733759042,
+            -61.59335179331289,
+            -1.576440083252276
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1599.791733759042,
+            -61.59335179331289,
+            -1.576440083252276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1599.791733759042,
+            -64.59335179331289,
+            -1.576440083252276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1599.791733759042,
+            -67.59335179331289,
+            -1.576440083252276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1599.791733759042,
+            -70.59335179331289,
+            -1.576440083252276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1599.791733759042,
+            -73.59335179331289,
+            -1.576440083252276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1599.791733759042,
+            -76.59335179331289,
+            -1.576440083252276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1599.791733759042,
+            -79.59335179331289,
+            -1.576440083252276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1599.791733759042,
+            -82.59335179331289,
+            -1.576440083252276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1599.791733759042,
+            -85.59335179331289,
+            -1.576440083252276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1599.791733759042,
+            -88.59335179331289,
+            -1.576440083252276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1599.791733759042,
+            -91.59335179331289,
+            -1.576440083252276
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1599.791733759042,
+            -91.59335179331289,
+            -1.576440083252276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1601.291733759042,
+            -94.19142800466621,
+            -1.576440083252276
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1602.297836303711,
+            -98.12757396697998,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-37-45_545042417/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-37-45_545042417/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a243bef99bc936b3a7bc3bd6a2279a832aba5ac
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-37-45_545042417/pose.jsonl
@@ -0,0 +1,222 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1381.9552509762234,
+            -153.29979626560865,
+            -6.878912704776184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1381.9552509762234,
+            -150.29979626560865,
+            -6.878912704776184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1381.9552509762234,
+            -147.29979626560865,
+            -6.878912704776184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1381.9552509762234,
+            -144.29979626560865,
+            -6.878912704776184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1381.9552509762234,
+            -141.29979626560865,
+            -6.878912704776184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1381.9552509762234,
+            -138.29979626560865,
+            -6.878912704776184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1381.9552509762234,
+            -135.29979626560865,
+            -6.878912704776184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1381.9552509762234,
+            -132.29979626560865,
+            -6.878912704776184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1381.9552509762234,
+            -129.29979626560865,
+            -6.878912704776184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1381.9552509762234,
+            -126.29979626560865,
+            -6.878912704776184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1381.9552509762234,
+            -123.29979626560865,
+            -6.878912704776184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1381.9552509762234,
+            -120.29979626560865,
+            -6.878912704776184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1381.9552509762234,
+            -117.29979626560865,
+            -6.878912704776184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1381.9552509762234,
+            -114.29979626560865,
+            -6.878912704776184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1381.9552509762234,
+            -111.29979626560865,
+            -6.878912704776184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1381.9552509762234,
+            -108.29979626560865,
+            -6.878912704776184
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1381.41708984375,
+            -76.18637247085572,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-40-31_56236614/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-40-31_56236614/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ac97308cfedb1aef2f6d03833ecbc364e656de93
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-40-31_56236614/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1228.9464872807814,
+            203.33249253378526,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1230.4464872807814,
+            205.93056874513857,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1231.9464872807814,
+            208.5286449564919,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1233.4464872807814,
+            211.1267211678452,
+            -8.140572370063882
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1233.4464872807814,
+            211.1267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1236.0445634921348,
+            212.6267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1238.6426397034882,
+            214.1267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1241.2407159148415,
+            215.6267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1243.838792126195,
+            217.1267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1246.4368683375483,
+            218.6267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1249.0349445489016,
+            220.1267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1251.633020760255,
+            221.6267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1254.2310969716084,
+            223.1267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1256.8291731829618,
+            224.6267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1259.4272493943151,
+            226.1267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1262.0253256056685,
+            227.6267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1264.6234018170219,
+            229.1267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1267.2214780283753,
+            230.6267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1269.8195542397286,
+            232.1267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1272.417630451082,
+            233.6267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1275.0157066624354,
+            235.1267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1277.6137828737888,
+            236.6267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1280.2118590851421,
+            238.1267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1282.8099352964955,
+            239.6267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1285.4080115078489,
+            241.1267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1288.0060877192022,
+            242.6267211678452,
+            -8.140572370063882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1290.6041639305556,
+            244.1267211678452,
+            -8.140572370063882
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1292.3825042724611,
+            243.1778787612915,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-50-29_1264448664/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-50-29_1264448664/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f236f93b5f13d120025f73450ce40e713a18c965
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-50-29_1264448664/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            66.12752518652255,
+            -56.261265710277286,
+            -3.094933227026843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            63.52944897516923,
+            -57.761265710277286,
+            -3.094933227026843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            60.931372763815915,
+            -59.261265710277286,
+            -3.094933227026843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            58.3332965524626,
+            -60.761265710277286,
+            -3.094933227026843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            55.73522034110928,
+            -62.261265710277286,
+            -3.094933227026843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            53.13714412975597,
+            -63.761265710277286,
+            -3.094933227026843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            50.53906791840265,
+            -65.26126571027729,
+            -3.094933227026843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            47.940991707049335,
+            -66.76126571027729,
+            -3.094933227026843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            45.34291549569602,
+            -68.26126571027729,
+            -3.094933227026843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            42.7448392843427,
+            -69.76126571027729,
+            -3.094933227026843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            40.14676307298939,
+            -71.26126571027729,
+            -3.094933227026843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            37.54868686163607,
+            -72.76126571027729,
+            -3.094933227026843
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            37.54868686163607,
+            -72.76126571027729,
+            -3.094933227026843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            34.54868686163607,
+            -72.76126571027729,
+            -3.094933227026843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            31.54868686163607,
+            -72.76126571027729,
+            -3.094933227026843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            28.54868686163607,
+            -72.76126571027729,
+            -3.094933227026843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            25.54868686163607,
+            -72.76126571027729,
+            -3.094933227026843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            22.54868686163607,
+            -72.76126571027729,
+            -3.094933227026843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            19.54868686163607,
+            -72.76126571027729,
+            -3.094933227026843
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            17.12450046539307,
+            -73.06071357727052,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-57-2_1217415497/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-57-2_1217415497/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0dc1063fc5b741a4844d8cf0f1857a8726133bc9
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-57-2_1217415497/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            106.43160603386359,
+            110.19294120207645,
+            -0.4647636852398431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            109.0296822452169,
+            108.69294120207645,
+            -0.4647636852398431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            111.62775845657022,
+            107.19294120207645,
+            -0.4647636852398431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            114.22583466792354,
+            105.69294120207645,
+            -0.4647636852398431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            116.82391087927685,
+            104.19294120207645,
+            -0.4647636852398431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            119.42198709063017,
+            102.69294120207645,
+            -0.4647636852398431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            122.02006330198348,
+            101.19294120207645,
+            -0.4647636852398431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            124.6181395133368,
+            99.69294120207645,
+            -0.4647636852398431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            127.21621572469012,
+            98.19294120207645,
+            -0.4647636852398431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            129.81429193604345,
+            96.69294120207645,
+            -0.4647636852398431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982965
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            132.41236814739676,
+            95.19294120207645,
+            -0.4647636852398431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            135.01044435875008,
+            93.69294120207645,
+            -0.4647636852398431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            137.6085205701034,
+            92.19294120207645,
+            -0.4647636852398431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            140.2065967814567,
+            90.69294120207645,
+            -0.4647636852398431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            142.80467299281003,
+            89.19294120207645,
+            -0.4647636852398431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            145.40274920416334,
+            87.69294120207645,
+            -0.4647636852398431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            148.00082541551666,
+            86.19294120207645,
+            -0.4647636852398431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            150.59890162686997,
+            84.69294120207645,
+            -0.4647636852398431
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            150.59890162686997,
+            84.69294120207645,
+            -0.4647636852398431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            152.09890162686997,
+            82.09486499072314,
+            -0.4647636852398431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            153.59890162686997,
+            79.49678877936982,
+            -0.4647636852398431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            155.09890162686997,
+            76.8987125680165,
+            -0.4647636852398431
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            156.30504608154297,
+            75.66667518615724,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-12-50_974255332/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-12-50_974255332/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c32372254474e39b5f863bb141e0ac2116ea572
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-12-50_974255332/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            19.66155928121796,
+            -378.02460295707897,
+            -8.859567813181984
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            17.063483069864645,
+            -376.52460295707897,
+            -8.859567813181984
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            14.46540685851133,
+            -375.02460295707897,
+            -8.859567813181984
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            11.867330647158013,
+            -373.52460295707897,
+            -8.859567813181984
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            9.269254435804697,
+            -372.02460295707897,
+            -8.859567813181984
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            6.671178224451381,
+            -370.52460295707897,
+            -8.859567813181984
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            4.073102013098065,
+            -369.02460295707897,
+            -8.859567813181984
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1.4750258017447493,
+            -367.52460295707897,
+            -8.859567813181984
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1.1230504096085667,
+            -366.02460295707897,
+            -8.859567813181984
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -3.7211266209618827,
+            -364.52460295707897,
+            -8.859567813181984
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -6.319202832315199,
+            -363.02460295707897,
+            -8.859567813181984
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -8.917279043668515,
+            -361.52460295707897,
+            -8.859567813181984
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -11.51535525502183,
+            -360.02460295707897,
+            -8.859567813181984
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -11.51535525502183,
+            -360.02460295707897,
+            -8.859567813181984
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -14.51535525502183,
+            -360.02460295707897,
+            -8.859567813181984
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -17.51535525502183,
+            -360.02460295707897,
+            -8.859567813181984
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -20.51535525502183,
+            -360.02460295707897,
+            -8.859567813181984
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -23.51535525502183,
+            -360.02460295707897,
+            -8.859567813181984
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -26.51535525502183,
+            -360.02460295707897,
+            -8.859567813181984
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -29.51535525502183,
+            -360.02460295707897,
+            -8.859567813181984
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -32.51535525502183,
+            -360.02460295707897,
+            -8.859567813181984
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -35.51535525502183,
+            -360.02460295707897,
+            -8.859567813181984
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -37.04707775115967,
+            -360.1783214569092,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-7-20_1538776050/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-7-20_1538776050/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..36a954d162673d7c6b7701f786a35f52db9ad937
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-7-20_1538776050/pose.jsonl
@@ -0,0 +1,131 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            955.6225408873833,
+            -294.87210049258226,
+            -0.9170188984697099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            957.1225408873833,
+            -292.27402428122895,
+            -0.9170188984697099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            958.6225408873833,
+            -289.67594806987563,
+            -0.9170188984697099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            960.1225408873833,
+            -287.0778718585223,
+            -0.9170188984697099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            961.6225408873833,
+            -284.479795647169,
+            -0.9170188984697099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            963.1225408873833,
+            -281.8817194358157,
+            -0.9170188984697099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            964.6225408873833,
+            -279.28364322446237,
+            -0.9170188984697099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            966.1225408873833,
+            -276.68556701310905,
+            -0.9170188984697099
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            967.6225408873833,
+            -274.08749080175573,
+            -0.9170188984697099
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            984.0259399414064,
+            -252.70955543518068,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}