diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-01-19_07-38-51_484977/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-01-19_07-38-51_484977/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9ca91a9a5bfdd890e9ac7c36185e0293e12c00bf
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-01-19_07-38-51_484977/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -761.6223235998976,
+            143.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -761.6223235998976,
+            140.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -761.6223235998976,
+            137.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -761.6223235998976,
+            134.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -761.6223235998976,
+            131.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -761.6223235998976,
+            128.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -761.6223235998976,
+            125.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -761.6223235998976,
+            122.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -761.6223235998976,
+            119.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -761.6223235998976,
+            116.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -761.6223235998976,
+            113.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -761.6223235998976,
+            110.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -761.6223235998976,
+            107.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -761.6223235998976,
+            104.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -761.6223235998976,
+            101.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -761.6223235998976,
+            98.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -761.6223235998976,
+            95.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -761.6223235998976,
+            92.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -761.6223235998976,
+            89.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -761.6223235998976,
+            86.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -761.6223235998976,
+            83.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -761.6223235998976,
+            80.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -761.6223235998976,
+            77.73475671183246,
+            45.08563280908995
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -761.6223235998976,
+            77.73475671183246,
+            48.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -761.6223235998976,
+            74.73475671183246,
+            48.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -761.6223235998976,
+            71.73475671183246,
+            48.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -761.6223235998976,
+            68.73475671183246,
+            48.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -761.6223235998976,
+            65.73475671183246,
+            48.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -761.6223235998976,
+            62.73475671183246,
+            48.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -761.6223235998976,
+            59.73475671183246,
+            48.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -761.6223235998976,
+            56.73475671183246,
+            48.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -761.6223235998976,
+            53.73475671183246,
+            48.08563280908995
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -761.6223235998976,
+            53.73475671183246,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -764.0,
+            44.0,
+            31.1527
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-01-19_07-56-23_256060/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-01-19_07-56-23_256060/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b83e436899de1fb8c2398378030be2ce07bd95eb
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-01-19_07-56-23_256060/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -874.2944800312894,
+            91.32591266575325,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -875.7944800312894,
+            88.72783645439993,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -877.2944800312894,
+            86.12976024304662,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -878.7944800312894,
+            83.5316840316933,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -880.2944800312894,
+            80.93360782033999,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -881.7944800312894,
+            78.33553160898667,
+            45.08563280908995
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -881.7944800312894,
+            78.33553160898667,
+            48.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -881.7944800312894,
+            78.33553160898667,
+            48.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -881.7944800312894,
+            78.33553160898667,
+            48.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -884.7944800312894,
+            78.33553160898667,
+            48.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -884.7944800312894,
+            78.33553160898667,
+            48.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -884.7944800312894,
+            78.33553160898667,
+            48.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -884.7944800312894,
+            78.33553160898667,
+            48.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.71238898038469
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -884.7944800312894,
+            75.33553160898667,
+            48.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -884.7944800312894,
+            72.33553160898667,
+            48.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -884.7944800312894,
+            69.33553160898667,
+            48.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -884.7944800312894,
+            66.33553160898667,
+            48.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -884.7944800312894,
+            63.33553160898667,
+            48.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -884.7944800312894,
+            60.33553160898667,
+            48.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -884.7944800312894,
+            57.33553160898667,
+            48.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -884.7944800312894,
+            54.33553160898667,
+            48.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -884.7944800312894,
+            51.33553160898667,
+            48.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -884.7944800312894,
+            48.33553160898667,
+            48.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -884.7944800312894,
+            45.33553160898667,
+            48.08563280908995
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -884.7944800312894,
+            45.33553160898667,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -888.0,
+            32.0,
+            42.0581
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-19-34_1681692777/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-19-34_1681692777/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4e43a2d80536735015c92f4ad3702ad949f216f7
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-19-34_1681692777/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -959.3787685614636,
+            -459.8394518474735,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -957.8787685614636,
+            -462.43752805882684,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -956.3787685614636,
+            -465.03560427018016,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -954.8787685614636,
+            -467.6336804815335,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -953.3787685614636,
+            -470.2317566928868,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -951.8787685614636,
+            -472.8298329042401,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -950.3787685614636,
+            -475.4279091155934,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -948.8787685614636,
+            -478.02598532694674,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -947.3787685614636,
+            -480.62406153830005,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -945.8787685614636,
+            -483.22213774965337,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -944.3787685614636,
+            -485.8202139610067,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -942.8787685614636,
+            -488.41829017236,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -942.8787685614636,
+            -488.41829017236,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -940.2806923501103,
+            -489.91829017236,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -937.6826161387569,
+            -491.41829017236,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -935.0845399274035,
+            -492.91829017236,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -932.4864637160501,
+            -494.41829017236,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -929.8883875046968,
+            -495.91829017236,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -927.2903112933434,
+            -497.41829017236,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -912.0,
+            -512.0,
+            46.329
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-23-0_1540383426/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-23-0_1540383426/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f31088f44ff655308909976a45116e4831e28ba1
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-23-0_1540383426/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -712.5196016684021,
+            -6.979590736328099,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -715.1176778797553,
+            -5.479590736328099,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -717.7157540911087,
+            -3.979590736328099,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -720.3138303024621,
+            -2.479590736328099,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -722.9119065138154,
+            -0.9795907363280991,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -725.5099827251688,
+            0.5204092636719007,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -728.1080589365222,
+            2.0204092636719,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991504
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -730.7061351478756,
+            3.5204092636719,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -733.3042113592289,
+            5.0204092636719,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -733.3042113592289,
+            5.0204092636719,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -734.8042113592289,
+            7.618485475025216,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -736.3042113592289,
+            10.216561686378533,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -737.8042113592289,
+            12.81463789773185,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -739.3042113592289,
+            15.412714109085165,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -740.8042113592289,
+            18.01079032043848,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -742.3042113592289,
+            20.608866531791797,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -743.8042113592289,
+            23.206942743145113,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -745.3042113592289,
+            25.80501895449843,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -764.0,
+            44.0,
+            31.1527
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-29-8_859484421/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-29-8_859484421/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..17f4f6a3f977dd0b4f3dcc09a8afe8d7e3b66c3e
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-29-8_859484421/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            94.72022956337337,
+            -44.37268597957999,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            92.12215335202005,
+            -45.87268597957999,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            89.52407714066673,
+            -47.37268597957999,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            86.92600092931342,
+            -48.87268597957999,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            84.3279247179601,
+            -50.37268597957999,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            81.72984850660679,
+            -51.87268597957999,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            79.13177229525347,
+            -53.37268597957999,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            76.53369608390015,
+            -54.87268597957999,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            73.93561987254684,
+            -56.37268597957999,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            71.33754366119352,
+            -57.87268597957999,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            68.7394674498402,
+            -59.37268597957999,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            66.14139123848689,
+            -60.87268597957999,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            63.54331502713357,
+            -62.37268597957999,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            63.54331502713357,
+            -62.37268597957999,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            62.04331502713357,
+            -64.9707621909333,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            36.0,
+            -84.0,
+            79.2117
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-31-3_2038664370/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-31-3_2038664370/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..16cbf144a8da04b5d9954cca5062f7e312c5169c
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-31-3_2038664370/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -875.041568288068,
+            -402.16561729161765,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -876.541568288068,
+            -404.76369350297097,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -878.041568288068,
+            -407.3617697143243,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -879.541568288068,
+            -409.9598459256776,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -881.041568288068,
+            -412.5579221370309,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -882.541568288068,
+            -415.15599834838423,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -884.041568288068,
+            -417.75407455973755,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -885.541568288068,
+            -420.35215077109086,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -887.041568288068,
+            -422.9502269824442,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -888.541568288068,
+            -425.5483031937975,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -890.041568288068,
+            -428.1463794051508,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -891.541568288068,
+            -430.7444556165041,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -891.541568288068,
+            -430.7444556165041,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -894.1396444994214,
+            -432.2444556165041,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -916.0,
+            -460.0,
+            33.629
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-44-59_927612902/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-44-59_927612902/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..221c1469d149da58d6b64d017bd0ac24256ea2d8
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-44-59_927612902/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1122.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1119.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1116.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1113.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1110.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1107.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1104.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1101.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1098.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1095.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1092.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1089.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1086.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1083.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1080.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1077.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1074.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1071.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1068.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1065.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1065.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1065.4394456462508,
+            -491.5292322606391,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1063.9394456462508,
+            -494.1273084719924,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1062.4394456462508,
+            -496.72538468334574,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1060.9394456462508,
+            -499.32346089469905,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1060.9394456462508,
+            -499.32346089469905,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1058.3413694348974,
+            -500.82346089469905,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1048.0,
+            -504.0,
+            33.779
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-45-42_1687926652/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-45-42_1687926652/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b26da6587021bc146dccd9af74b476cc25b6870
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-45-42_1687926652/pose.jsonl
@@ -0,0 +1,54 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -859.4381293514249,
+            -226.12647689320846,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -860.9381293514249,
+            -228.72455310456178,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -862.4381293514249,
+            -231.3226293159151,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -900.0,
+            -280.0,
+            120.431
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-49-58_822890675/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-49-58_822890675/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..de691a1bbf4ce3e301b9749a6452ceba3f1767c6
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_11-49-58_822890675/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -183.43690720341357,
+            -266.98952417264894,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -180.83883099206025,
+            -265.48952417264894,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -178.24075478070694,
+            -263.98952417264894,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -175.64267856935362,
+            -262.48952417264894,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -173.0446023580003,
+            -260.98952417264894,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -170.446526146647,
+            -259.48952417264894,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -167.84844993529367,
+            -257.98952417264894,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -165.25037372394036,
+            -256.48952417264894,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -162.65229751258704,
+            -254.98952417264894,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -160.05422130123372,
+            -253.48952417264894,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -157.4561450898804,
+            -251.98952417264894,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -154.8580688785271,
+            -250.48952417264894,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -154.8580688785271,
+            -250.48952417264894,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -153.3580688785271,
+            -247.89144796129563,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -151.8580688785271,
+            -245.2933717499423,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -150.3580688785271,
+            -242.695295538589,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -148.8580688785271,
+            -240.09721932723568,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -147.3580688785271,
+            -237.49914311588236,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -145.8580688785271,
+            -234.90106690452905,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -144.3580688785271,
+            -232.30299069317573,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -142.8580688785271,
+            -229.7049144818224,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -132.0,
+            -216.0,
+            46.3108
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-12-44_2086206725/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-12-44_2086206725/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0fe763f3573ae8733601bddb39270a8672b82e44
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-12-44_2086206725/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -969.0787525486212,
+            -372.7681993908456,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -969.0787525486212,
+            -375.7681993908456,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -969.0787525486212,
+            -378.7681993908456,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -969.0787525486212,
+            -381.7681993908456,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -969.0787525486212,
+            -384.7681993908456,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -969.0787525486212,
+            -387.7681993908456,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -969.0787525486212,
+            -387.7681993908456,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -970.5787525486212,
+            -390.3662756021989,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -972.0787525486212,
+            -392.96435181355224,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -972.0787525486212,
+            -392.96435181355224,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -974.6768287599746,
+            -394.46435181355224,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -977.2749049713279,
+            -395.96435181355224,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -979.8729811826813,
+            -397.46435181355224,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -996.0,
+            -436.0,
+            38.8111
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-15-17_1820388464/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-15-17_1820388464/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..97dccb923756a403d62689e6373f0400fb0b21cb
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-15-17_1820388464/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1141.5029137341232,
+            -47.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1138.5029137341232,
+            -47.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1135.5029137341232,
+            -47.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1132.5029137341232,
+            -47.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1129.5029137341232,
+            -47.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1126.5029137341232,
+            -47.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1123.5029137341232,
+            -47.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1120.5029137341232,
+            -47.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1117.5029137341232,
+            -47.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1114.5029137341232,
+            -47.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1111.5029137341232,
+            -47.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1108.5029137341232,
+            -47.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1105.5029137341232,
+            -47.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1102.5029137341232,
+            -47.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1099.5029137341232,
+            -47.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1096.5029137341232,
+            -47.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1093.5029137341232,
+            -47.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1090.5029137341232,
+            -47.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1087.5029137341232,
+            -47.06803945650781,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1087.5029137341232,
+            -47.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1084.9048375227699,
+            -48.56803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1082.3067613114165,
+            -50.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1079.7086851000631,
+            -51.56803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1077.1106088887097,
+            -53.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1074.5125326773564,
+            -54.56803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1071.914456466003,
+            -56.06803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1069.3163802546496,
+            -57.56803945650781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1066.7183040432963,
+            -59.06803945650781,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1060.0,
+            -60.0,
+            33.829
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-18-26_87755422/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-18-26_87755422/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e652d673b2383abe78a24734382fc6fc88116d7b
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-18-26_87755422/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -815.2943394094298,
+            -390.25466775489747,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -816.7943394094298,
+            -387.65659154354415,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -818.2943394094298,
+            -385.05851533219084,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -819.7943394094298,
+            -382.4604391208375,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -821.2943394094298,
+            -379.8623629094842,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -822.7943394094298,
+            -377.2642866981309,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -824.2943394094298,
+            -374.6662104867776,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -825.7943394094298,
+            -372.06813427542426,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -827.2943394094298,
+            -369.47005806407094,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -828.7943394094298,
+            -366.8719818527176,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -830.2943394094298,
+            -364.2739056413643,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -831.7943394094298,
+            -361.675829430011,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -833.2943394094298,
+            -359.0777532186577,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -834.7943394094298,
+            -356.47967700730436,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -836.2943394094298,
+            -353.88160079595104,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -837.7943394094298,
+            -351.2835245845977,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -839.2943394094298,
+            -348.6854483732444,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -839.2943394094298,
+            -348.6854483732444,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -841.8924156207831,
+            -347.1854483732444,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -844.4904918321365,
+            -345.6854483732444,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -847.0885680434899,
+            -344.1854483732444,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -860.0,
+            -328.0,
+            35.7381
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-29-14_1472713773/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-29-14_1472713773/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..633d3f67a9ec09585676191d860ce2872f95c201
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-29-14_1472713773/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -104.17698224330402,
+            -565.8902165563511,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -102.67698224330402,
+            -568.4882927677045,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -101.17698224330402,
+            -571.0863689790579,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -99.67698224330402,
+            -573.6844451904112,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -98.17698224330402,
+            -576.2825214017646,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -96.67698224330402,
+            -578.880597613118,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -95.17698224330402,
+            -581.4786738244713,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -93.67698224330402,
+            -584.0767500358247,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -92.17698224330402,
+            -586.6748262471781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -90.67698224330402,
+            -589.2729024585315,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -89.17698224330402,
+            -591.8709786698848,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -89.17698224330402,
+            -591.8709786698848,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -86.57890603195071,
+            -593.3709786698848,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -83.98082982059739,
+            -594.8709786698848,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -81.38275360924408,
+            -596.3709786698848,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -78.78467739789076,
+            -597.8709786698848,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -76.18660118653744,
+            -599.3709786698848,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -60.0,
+            -620.0,
+            63.6064
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-3-36_971899228/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-3-36_971899228/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fba0395a474b11407167308e2b5a83665d0b16c7
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-3-36_971899228/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            335.753876883401,
+            -366.7198585302737,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            334.253876883401,
+            -369.317934741627,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            332.753876883401,
+            -371.91601095298034,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            331.253876883401,
+            -374.51408716433366,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            329.753876883401,
+            -377.112163375687,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            328.253876883401,
+            -379.7102395870403,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            326.753876883401,
+            -382.3083157983936,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            325.253876883401,
+            -384.9063920097469,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            323.753876883401,
+            -387.50446822110024,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            322.253876883401,
+            -390.10254443245356,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            320.753876883401,
+            -392.70062064380687,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            319.253876883401,
+            -395.2986968551602,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            317.753876883401,
+            -397.8967730665135,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            316.253876883401,
+            -400.4948492778668,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            314.753876883401,
+            -403.09292548922014,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            314.753876883401,
+            -403.09292548922014,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            312.1558006720477,
+            -404.59292548922014,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            309.5577244606944,
+            -406.09292548922014,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            292.0,
+            -428.0,
+            45.9813
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-30-42_437116466/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-30-42_437116466/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ecd2e2b88d7888d8e2fc06fb76b1b1b1dc8ef520
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-30-42_437116466/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1018.4143576264014,
+            -339.5895686657309,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1021.0124338377548,
+            -341.0895686657309,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1023.6105100491081,
+            -342.5895686657309,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1026.2085862604615,
+            -344.0895686657309,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1026.2085862604615,
+            -344.0895686657309,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1026.2085862604615,
+            -344.0895686657309,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.570796326794906
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1026.2085862604615,
+            -347.0895686657309,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1026.2085862604615,
+            -347.0895686657309,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1027.7085862604615,
+            -349.6876448770842,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1027.7085862604615,
+            -349.6876448770842,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1027.7085862604615,
+            -349.6876448770842,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1030.7085862604615,
+            -349.6876448770842,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1033.7085862604615,
+            -349.6876448770842,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1036.7085862604615,
+            -349.6876448770842,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1039.7085862604615,
+            -349.6876448770842,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1042.7085862604615,
+            -349.6876448770842,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1045.7085862604615,
+            -349.6876448770842,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1048.7085862604615,
+            -349.6876448770842,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1051.7085862604615,
+            -349.6876448770842,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1054.7085862604615,
+            -349.6876448770842,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1057.7085862604615,
+            -349.6876448770842,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1060.7085862604615,
+            -349.6876448770842,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1060.7085862604615,
+            -349.6876448770842,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1063.306662471815,
+            -348.1876448770842,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1065.9047386831683,
+            -346.6876448770842,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1068.5028148945216,
+            -345.1876448770842,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1071.100891105875,
+            -343.6876448770842,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1092.0,
+            -344.0,
+            62.9681
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-41-47_1389867269/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-41-47_1389867269/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4a9a80df152c3ef8a69a0e924417fd398f207317
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-41-47_1389867269/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -713.904728540285,
+            -171.98142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -716.5028047516382,
+            -173.48142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -719.1008809629916,
+            -174.98142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -721.698957174345,
+            -176.48142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -724.2970333856983,
+            -177.98142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -726.8951095970517,
+            -179.48142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -729.4931858084051,
+            -180.98142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -732.0912620197585,
+            -182.48142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -734.6893382311118,
+            -183.98142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -737.2874144424652,
+            -185.48142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -739.8854906538186,
+            -186.98142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -742.483566865172,
+            -188.48142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -745.0816430765253,
+            -189.98142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -747.6797192878787,
+            -191.48142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -750.2777954992321,
+            -192.98142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -752.8758717105854,
+            -194.48142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -755.4739479219388,
+            -195.98142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -758.0720241332922,
+            -197.48142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -760.6701003446456,
+            -198.98142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -763.2681765559989,
+            -200.48142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -765.8662527673523,
+            -201.98142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -768.4643289787057,
+            -203.48142651150678,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -768.4643289787057,
+            -203.48142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -771.4643289787057,
+            -203.48142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -774.4643289787057,
+            -203.48142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -777.4643289787057,
+            -203.48142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -780.4643289787057,
+            -203.48142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -783.4643289787057,
+            -203.48142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -786.4643289787057,
+            -203.48142651150678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -789.4643289787057,
+            -203.48142651150678,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -804.0,
+            -208.0,
+            36.2666
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-43-59_570073850/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-43-59_570073850/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ac1c38e7203edd2257c435d11f48dc9b3a59e5e5
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-43-59_570073850/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -690.1069039746656,
+            75.36756642077476,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -693.1069039746656,
+            75.36756642077476,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -696.1069039746656,
+            75.36756642077476,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -699.1069039746656,
+            75.36756642077476,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -702.1069039746656,
+            75.36756642077476,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -705.1069039746656,
+            75.36756642077476,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -708.1069039746656,
+            75.36756642077476,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -711.1069039746656,
+            75.36756642077476,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -714.1069039746656,
+            75.36756642077476,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -717.1069039746656,
+            75.36756642077476,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -720.1069039746656,
+            75.36756642077476,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -723.1069039746656,
+            75.36756642077476,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -726.1069039746656,
+            75.36756642077476,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -729.1069039746656,
+            75.36756642077476,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -732.1069039746656,
+            75.36756642077476,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -735.1069039746656,
+            75.36756642077476,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -738.1069039746656,
+            75.36756642077476,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -741.1069039746656,
+            75.36756642077476,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -744.1069039746656,
+            75.36756642077476,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -764.0,
+            72.0,
+            43.7495
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-51-4_105575579/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-51-4_105575579/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2134c5576733119ce351ee02dc656f11a25e9c60
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-51-4_105575579/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -698.9656073650596,
+            -438.63449722944335,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -700.4656073650596,
+            -436.03642101809004,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -701.9656073650596,
+            -433.4383448067367,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -703.4656073650596,
+            -430.8402685953834,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -704.9656073650596,
+            -428.2421923840301,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -706.4656073650596,
+            -425.6441161726768,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -707.9656073650596,
+            -423.04603996132346,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -709.4656073650596,
+            -420.44796374997014,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -710.9656073650596,
+            -417.8498875386168,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -712.4656073650596,
+            -415.2518113272635,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -713.9656073650596,
+            -412.6537351159102,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -715.4656073650596,
+            -410.0556589045569,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -716.9656073650596,
+            -407.45758269320356,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -718.4656073650596,
+            -404.85950648185025,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -719.9656073650596,
+            -402.26143027049693,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -721.4656073650596,
+            -399.6633540591436,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -722.9656073650596,
+            -397.0652778477903,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -722.9656073650596,
+            -397.0652778477903,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -725.5636835764128,
+            -395.5652778477903,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -728.1617597877662,
+            -394.0652778477903,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -730.7598359991196,
+            -392.5652778477903,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -733.3579122104729,
+            -391.0652778477903,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -735.9559884218263,
+            -389.5652778477903,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -738.5540646331797,
+            -388.0652778477903,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -741.152140844533,
+            -386.5652778477903,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -760.0,
+            -360.0,
+            35.7581
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-57-59_1908518808/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-57-59_1908518808/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..50096b6d576beaa11f311e4c704fd1ff76e02ae4
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-57-59_1908518808/pose.jsonl
@@ -0,0 +1,54 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            160.70583168412662,
+            -599.5056294297862,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            163.70583168412662,
+            -599.5056294297862,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            166.70583168412662,
+            -599.5056294297862,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            244.0,
+            -620.0,
+            33.8289
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-6-36_1605894428/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-6-36_1605894428/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ef21f2530f3f3823dc780d4c3deee2954313fd6f
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-6-36_1605894428/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -745.8018172385828,
+            -409.5592379545795,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -748.3998934499361,
+            -408.0592379545795,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -750.9979696612895,
+            -406.5592379545795,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -753.5960458726429,
+            -405.0592379545795,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -756.1941220839963,
+            -403.5592379545795,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -758.7921982953496,
+            -402.0592379545795,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -761.390274506703,
+            -400.5592379545795,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -763.9883507180564,
+            -399.0592379545795,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -766.5864269294098,
+            -397.5592379545795,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -766.5864269294098,
+            -397.5592379545795,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -768.0864269294098,
+            -394.96116174322617,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -769.5864269294098,
+            -392.36308553187285,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -771.0864269294098,
+            -389.76500932051954,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -796.0,
+            -372.0,
+            91.3502
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-8-40_1432114613/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-8-40_1432114613/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a605ceab21d070da17cf05c1cd53cc1b60b2d2a9
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_12-8-40_1432114613/pose.jsonl
@@ -0,0 +1,93 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -63.770050402423614,
+            -591.1972002920758,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393203
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -65.2700504024236,
+            -593.795276503429,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393203
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -66.7700504024236,
+            -596.3933527147824,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -68.2700504024236,
+            -598.9914289261358,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -68.2700504024236,
+            -598.9914289261358,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -70.86812661377692,
+            -600.4914289261358,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -120.0,
+            -668.0,
+            45.9813
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-1-55_624549797/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-1-55_624549797/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..533328d7873c25d367592f9a01b923ffe2534e57
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-1-55_624549797/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -757.628273385318,
+            -465.00413802810436,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -760.2263495966713,
+            -463.50413802810436,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -762.8244258080247,
+            -462.00413802810436,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -765.422502019378,
+            -460.50413802810436,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -768.0205782307314,
+            -459.00413802810436,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -770.6186544420848,
+            -457.50413802810436,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -773.2167306534382,
+            -456.00413802810436,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -775.8148068647915,
+            -454.50413802810436,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -778.4128830761449,
+            -453.00413802810436,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -781.0109592874983,
+            -451.50413802810436,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -783.6090354988517,
+            -450.00413802810436,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -786.207111710205,
+            -448.50413802810436,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -788.8051879215584,
+            -447.00413802810436,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -791.4032641329118,
+            -445.50413802810436,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -794.0013403442651,
+            -444.00413802810436,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -796.5994165556185,
+            -442.50413802810436,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -799.1974927669719,
+            -441.00413802810436,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -801.7955689783253,
+            -439.50413802810436,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -804.3936451896786,
+            -438.00413802810436,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -804.3936451896786,
+            -438.00413802810436,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -805.8936451896786,
+            -435.40606181675105,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -807.3936451896786,
+            -432.80798560539773,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -808.8936451896786,
+            -430.2099093940444,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -810.3936451896786,
+            -427.6118331826911,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -811.8936451896786,
+            -425.0137569713378,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -813.3936451896786,
+            -422.41568075998447,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -828.0,
+            -412.0,
+            36.399
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-2-55_1750003033/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-2-55_1750003033/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2625ac72ceec634dae852620776872d605488df5
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-2-55_1750003033/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -931.6602188194549,
+            -124.00008676356254,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -934.6602188194549,
+            -124.00008676356254,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -937.6602188194549,
+            -124.00008676356254,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -940.6602188194549,
+            -124.00008676356254,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -943.6602188194549,
+            -124.00008676356254,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -946.6602188194549,
+            -124.00008676356254,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -949.6602188194549,
+            -124.00008676356254,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -952.6602188194549,
+            -124.00008676356254,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -955.6602188194549,
+            -124.00008676356254,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -958.6602188194549,
+            -124.00008676356254,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -961.6602188194549,
+            -124.00008676356254,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -961.6602188194549,
+            -124.00008676356254,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -961.6602188194549,
+            -124.00008676356254,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -963.1602188194549,
+            -121.40201055220922,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -964.6602188194549,
+            -118.8039343408559,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -966.1602188194549,
+            -116.20585812950259,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -996.0,
+            -108.0,
+            73.4265
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-21-35_1586903190/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-21-35_1586903190/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e733f1365fd72df501f0442b7c6d6d8adb113037
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-21-35_1586903190/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -743.1110039170651,
+            -411.90009466953416,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -745.7090801284185,
+            -410.40009466953416,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -748.3071563397718,
+            -408.90009466953416,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -750.9052325511252,
+            -407.40009466953416,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -753.5033087624786,
+            -405.90009466953416,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -756.101384973832,
+            -404.40009466953416,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -758.6994611851853,
+            -402.90009466953416,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -761.2975373965387,
+            -401.40009466953416,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -763.8956136078921,
+            -399.90009466953416,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -766.4936898192454,
+            -398.40009466953416,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -769.0917660305988,
+            -396.90009466953416,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -769.0917660305988,
+            -396.90009466953416,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -770.5917660305988,
+            -394.30201845818084,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -772.0917660305988,
+            -391.7039422468275,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -796.0,
+            -372.0,
+            91.3502
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-24-42_2009726312/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-24-42_2009726312/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e92e3ebbf74e5403a6b266e79058e87cb79ca39f
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-24-42_2009726312/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -969.7108160630925,
+            -30.078784030153102,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -971.2108160630925,
+            -32.67686024150642,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -972.7108160630925,
+            -35.274936452859734,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -974.2108160630925,
+            -37.87301266421305,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -975.7108160630925,
+            -40.471088875566366,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -977.2108160630925,
+            -43.06916508691968,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -978.7108160630925,
+            -45.667241298273,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -978.7108160630925,
+            -45.667241298273,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -978.7108160630925,
+            -48.667241298273,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -978.7108160630925,
+            -51.667241298273,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -978.7108160630925,
+            -54.667241298273,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -978.7108160630925,
+            -57.667241298273,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -978.7108160630925,
+            -60.667241298273,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -978.7108160630925,
+            -63.667241298273,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -996.0,
+            -108.0,
+            73.4265
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-30-44_1106059479/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-30-44_1106059479/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..84c0247f3f3d7ed548f44cced369f6bcc0b66b11
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-30-44_1106059479/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -675.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -678.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -681.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -684.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -687.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -690.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -693.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -696.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -699.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -702.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -705.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -708.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -711.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -714.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -717.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -720.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -723.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -726.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -729.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -732.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -735.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -735.4285733704636,
+            -176.85844168164857,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -738.0266495818169,
+            -178.35844168164857,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -764.0,
+            -180.0,
+            33.629
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-4-33_474613996/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-4-33_474613996/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e9828ae232654a4aff590bf76d08927bc8298e41
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-4-33_474613996/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -769.0068584298874,
+            -260.13018297338704,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -769.0068584298874,
+            -257.13018297338704,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -769.0068584298874,
+            -254.13018297338704,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -769.0068584298874,
+            -251.13018297338704,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -769.0068584298874,
+            -248.13018297338704,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -769.0068584298874,
+            -245.13018297338704,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -769.0068584298874,
+            -242.13018297338704,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -769.0068584298874,
+            -239.13018297338704,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -769.0068584298874,
+            -236.13018297338704,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -769.0068584298874,
+            -233.13018297338704,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -769.0068584298874,
+            -230.13018297338704,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -769.0068584298874,
+            -227.13018297338704,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -769.0068584298874,
+            -224.13018297338704,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -769.0068584298874,
+            -221.13018297338704,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -769.0068584298874,
+            -218.13018297338704,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -769.0068584298874,
+            -215.13018297338704,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -769.0068584298874,
+            -212.13018297338704,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -769.0068584298874,
+            -209.13018297338704,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -769.0068584298874,
+            -206.13018297338704,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -769.0068584298874,
+            -203.13018297338704,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -769.0068584298874,
+            -203.13018297338704,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -767.5068584298874,
+            -200.53210676203372,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -766.0068584298874,
+            -197.9340305506804,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -764.0,
+            -180.0,
+            33.629
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-42-0_983631233/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-42-0_983631233/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..70e190e59e41103e14f13698bbbbfed63d01f875
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-42-0_983631233/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -956.1441731283687,
+            -280.51966044921664,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -953.1441731283687,
+            -280.51966044921664,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -950.1441731283687,
+            -280.51966044921664,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -947.1441731283687,
+            -280.51966044921664,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -944.1441731283687,
+            -280.51966044921664,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -941.1441731283687,
+            -280.51966044921664,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -938.1441731283687,
+            -280.51966044921664,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -935.1441731283687,
+            -280.51966044921664,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -935.1441731283687,
+            -280.51966044921664,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -935.1441731283687,
+            -280.51966044921664,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -933.6441731283687,
+            -277.9215842378633,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -932.1441731283687,
+            -275.32350802651,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -930.6441731283687,
+            -272.7254318151567,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -929.1441731283687,
+            -270.1273556038034,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -927.6441731283687,
+            -267.52927939245006,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -864.0,
+            -244.0,
+            62.9925
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-46-36_427355115/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-46-36_427355115/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..96dade330d05c63c5160a918f7bd083e9d79ebef
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-46-36_427355115/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -965.8933515271674,
+            -88.71497839793336,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -962.8933515271674,
+            -88.71497839793336,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -959.8933515271674,
+            -88.71497839793336,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -956.8933515271674,
+            -88.71497839793336,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -953.8933515271674,
+            -88.71497839793336,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -950.8933515271674,
+            -88.71497839793336,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -947.8933515271674,
+            -88.71497839793336,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -944.8933515271674,
+            -88.71497839793336,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -941.8933515271674,
+            -88.71497839793336,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -938.8933515271674,
+            -88.71497839793336,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -935.8933515271674,
+            -88.71497839793336,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -932.8933515271674,
+            -88.71497839793336,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -929.8933515271674,
+            -88.71497839793336,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -929.8933515271674,
+            -88.71497839793336,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -927.295275315814,
+            -87.21497839793336,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -924.6971991044607,
+            -85.71497839793336,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -888.0,
+            -80.0,
+            120.431
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-51-9_1047372231/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-51-9_1047372231/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9878d246b80fa0c778df9edff5667e975e705beb
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-51-9_1047372231/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            71.85930154173448,
+            -182.05303933708956,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            73.35930154173448,
+            -184.65111554844287,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            74.85930154173448,
+            -187.2491917597962,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            76.35930154173448,
+            -189.8472679711495,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            77.85930154173448,
+            -192.44534418250282,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            79.35930154173448,
+            -195.04342039385614,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            80.85930154173448,
+            -197.64149660520945,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            82.35930154173448,
+            -200.23957281656277,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            83.85930154173448,
+            -202.8376490279161,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            85.35930154173448,
+            -205.4357252392694,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            85.35930154173448,
+            -205.4357252392694,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            87.9573777530878,
+            -206.9357252392694,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            90.55545396444111,
+            -208.4357252392694,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            93.15353017579443,
+            -209.9357252392694,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            95.75160638714775,
+            -211.4357252392694,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            98.34968259850106,
+            -212.9357252392694,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            100.94775880985438,
+            -214.4357252392694,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            103.5458350212077,
+            -215.9357252392694,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            106.14391123256101,
+            -217.4357252392694,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            108.74198744391433,
+            -218.9357252392694,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            132.0,
+            -240.0,
+            115.81
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-56-15_435889744/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-56-15_435889744/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9875407439b018ffacce1ca4e30f748ac3ca19a7
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_13-56-15_435889744/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1099.607988884775,
+            35.611351212489815,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1096.607988884775,
+            35.611351212489815,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1096.607988884775,
+            35.611351212489815,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1096.607988884775,
+            35.611351212489815,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1095.107988884775,
+            38.20942742384313,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1093.607988884775,
+            40.80750363519645,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1092.107988884775,
+            43.40557984654976,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1090.607988884775,
+            46.00365605790308,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1089.107988884775,
+            48.601732269256395,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1089.107988884775,
+            48.601732269256395,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1089.107988884775,
+            48.601732269256395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.220446049250313e-16
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1086.107988884775,
+            48.601732269256395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1083.107988884775,
+            48.601732269256395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1080.107988884775,
+            48.601732269256395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1077.107988884775,
+            48.601732269256395,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1077.107988884775,
+            48.601732269256395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1074.5099126734217,
+            50.101732269256395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1071.9118364620683,
+            51.601732269256395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1069.313760250715,
+            53.101732269256395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1066.7156840393616,
+            54.601732269256395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1064.1176078280082,
+            56.101732269256395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1061.5195316166548,
+            57.601732269256395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1058.9214554053015,
+            59.101732269256395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1056.323379193948,
+            60.601732269256395,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1056.323379193948,
+            60.601732269256395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1053.323379193948,
+            60.601732269256395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1050.323379193948,
+            60.601732269256395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1047.323379193948,
+            60.601732269256395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1044.323379193948,
+            60.601732269256395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1041.323379193948,
+            60.601732269256395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1038.323379193948,
+            60.601732269256395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1035.323379193948,
+            60.601732269256395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1032.323379193948,
+            60.601732269256395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1029.323379193948,
+            60.601732269256395,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1008.0,
+            68.0,
+            31.9564
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-10-42_120306710/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-10-42_120306710/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2821b91bbd2e4973599e9523db84e275955a8c70
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-10-42_120306710/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1165.324347965468,
+            -214.3054488312203,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1163.824347965468,
+            -216.90352504257362,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1162.324347965468,
+            -219.50160125392694,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1160.824347965468,
+            -222.09967746528025,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1159.324347965468,
+            -224.69775367663357,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1157.824347965468,
+            -227.29582988798688,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1156.324347965468,
+            -229.8939060993402,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1154.824347965468,
+            -232.49198231069352,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1153.324347965468,
+            -235.09005852204683,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1151.824347965468,
+            -237.68813473340015,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1150.324347965468,
+            -240.28621094475346,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1148.824347965468,
+            -242.88428715610678,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1147.324347965468,
+            -245.4823633674601,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1145.824347965468,
+            -248.0804395788134,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1144.324347965468,
+            -250.67851579016673,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1142.824347965468,
+            -253.27659200152004,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1141.324347965468,
+            -255.87466821287336,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1139.824347965468,
+            -258.4727444242267,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1138.324347965468,
+            -261.07082063558,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1136.824347965468,
+            -263.6688968469333,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1136.824347965468,
+            -263.6688968469333,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1134.2262717541146,
+            -265.1688968469333,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1131.6281955427612,
+            -266.6688968469333,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1129.0301193314078,
+            -268.1688968469333,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1126.4320431200545,
+            -269.6688968469333,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1123.833966908701,
+            -271.1688968469333,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1121.2358906973477,
+            -272.6688968469333,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1118.6378144859943,
+            -274.1688968469333,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1116.039738274641,
+            -275.6688968469333,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1113.4416620632876,
+            -277.1688968469333,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1113.4416620632876,
+            -277.1688968469333,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1111.9416620632876,
+            -279.7669730582866,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1110.4416620632876,
+            -282.36504926963994,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1104.0,
+            -292.0,
+            36.5802
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-17-38_714880226/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-17-38_714880226/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..afdecd01eafdc00a16366603a3dd02f2e9ce369c
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-17-38_714880226/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -958.2812317731922,
+            -558.6823797217226,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -960.8793079845454,
+            -557.1823797217226,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -963.4773841958988,
+            -555.6823797217226,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -966.0754604072522,
+            -554.1823797217226,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -968.6735366186056,
+            -552.6823797217226,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -971.2716128299589,
+            -551.1823797217226,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -973.8696890413123,
+            -549.6823797217226,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -976.4677652526657,
+            -548.1823797217226,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -979.0658414640191,
+            -546.6823797217226,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -981.6639176753724,
+            -545.1823797217226,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -981.6639176753724,
+            -545.1823797217226,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -984.6639176753724,
+            -545.1823797217226,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -987.6639176753724,
+            -545.1823797217226,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -990.6639176753724,
+            -545.1823797217226,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -993.6639176753724,
+            -545.1823797217226,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -996.6639176753724,
+            -545.1823797217226,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -999.6639176753724,
+            -545.1823797217226,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1002.6639176753724,
+            -545.1823797217226,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1005.6639176753724,
+            -545.1823797217226,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1008.6639176753724,
+            -545.1823797217226,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1008.6639176753724,
+            -545.1823797217226,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1008.6639176753724,
+            -545.1823797217226,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1010.1639176753724,
+            -542.5843035103692,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1048.0,
+            -528.0,
+            115.738
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-17-54_460686763/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-17-54_460686763/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8e1ba17c26a78c5fbd51e71e532dd498b16653ed
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-17-54_460686763/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            334.82513265612675,
+            -177.22077740978978,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            332.22705644477344,
+            -178.72077740978978,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            329.6289802334201,
+            -180.22077740978978,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            327.0309040220668,
+            -181.72077740978978,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            324.4328278107135,
+            -183.22077740978978,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            321.8347515993602,
+            -184.72077740978978,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            319.23667538800686,
+            -186.22077740978978,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            316.63859917665354,
+            -187.72077740978978,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            314.0405229653002,
+            -189.22077740978978,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            314.0405229653002,
+            -189.22077740978978,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            312.5405229653002,
+            -191.8188536211431,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            311.0405229653002,
+            -194.4169298324964,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            309.5405229653002,
+            -197.01500604384972,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            272.0,
+            -224.0,
+            43.7314
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-27-45_2064945486/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-27-45_2064945486/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d17d764235bffd5f3c22c48e5f7afbb842a8fef9
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-27-45_2064945486/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -893.0001776779673,
+            125.98054762291541,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -891.5001776779673,
+            123.3824714115621,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -890.0001776779673,
+            120.78439520020878,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -888.5001776779673,
+            118.18631898885546,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -887.0001776779673,
+            115.58824277750215,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -885.5001776779673,
+            112.99016656614883,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -884.0001776779673,
+            110.39209035479551,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -882.5001776779673,
+            107.7940141434422,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -881.0001776779673,
+            105.19593793208888,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -879.5001776779673,
+            102.59786172073557,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -879.5001776779673,
+            102.59786172073557,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -879.5001776779673,
+            99.59786172073557,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -879.5001776779673,
+            96.59786172073557,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -879.5001776779673,
+            93.59786172073557,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -879.5001776779673,
+            90.59786172073557,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -879.5001776779673,
+            87.59786172073557,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -879.5001776779673,
+            84.59786172073557,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -879.5001776779673,
+            81.59786172073557,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -879.5001776779673,
+            78.59786172073557,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -876.0,
+            68.0,
+            45.9813
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-4-26_703550253/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-4-26_703550253/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1fbbee18d659970d5239ffba7ee3ce83c2f6b3cd
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-4-26_703550253/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -842.6087092176683,
+            -314.9149596612523,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -845.2067854290217,
+            -316.4149596612523,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -847.8048616403751,
+            -317.9149596612523,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -850.4029378517284,
+            -319.4149596612523,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -853.0010140630818,
+            -320.9149596612523,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -855.5990902744352,
+            -322.4149596612523,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -858.1971664857886,
+            -323.9149596612523,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -860.7952426971419,
+            -325.4149596612523,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -863.3933189084953,
+            -326.9149596612523,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -865.9913951198487,
+            -328.4149596612523,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -868.589471331202,
+            -329.9149596612523,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -871.1875475425554,
+            -331.4149596612523,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -871.1875475425554,
+            -331.4149596612523,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -872.6875475425554,
+            -334.0130358726056,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -874.1875475425554,
+            -336.6111120839589,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -875.6875475425554,
+            -339.20918829531223,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -877.1875475425554,
+            -341.80726450666555,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -878.6875475425554,
+            -344.40534071801886,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -880.1875475425554,
+            -347.0034169293722,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -888.0,
+            -356.0,
+            33.7789
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-4-7_1421186593/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-4-7_1421186593/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cc03d45a4a9c14bd2158c37d324c77e53c2d08db
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-4-7_1421186593/pose.jsonl
@@ -0,0 +1,106 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            82.85426897991377,
+            -44.470788140563585,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            84.35426897991377,
+            -47.0688643519169,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            85.85426897991377,
+            -49.66694056327022,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            87.35426897991377,
+            -52.26501677462353,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            88.85426897991377,
+            -54.86309298597685,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            90.35426897991377,
+            -57.461169197330165,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            91.85426897991377,
+            -60.05924540868348,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            124.0,
+            -96.0,
+            31.1527
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-40-47_343945053/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-40-47_343945053/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dd8fd21058508bf2be2479735e8734947c13d2f0
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-40-47_343945053/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -957.711254915145,
+            -56.21284275456947,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -959.211254915145,
+            -58.81091896592279,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -960.711254915145,
+            -61.408995177276104,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -962.211254915145,
+            -64.00707138862941,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -963.711254915145,
+            -66.60514759998273,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -965.211254915145,
+            -69.20322381133604,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -965.211254915145,
+            -69.20322381133604,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -967.8093311264984,
+            -70.70322381133604,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -996.0,
+            -108.0,
+            73.4265
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-48-0_1694887982/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-48-0_1694887982/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5125fc56fc0e31c0a81e3d9015968cce6ce9564f
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-48-0_1694887982/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            7.969764352400404,
+            -570.7882721959654,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            5.371688141047088,
+            -572.2882721959654,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            2.7736119296937716,
+            -573.7882721959654,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            0.17553571834045556,
+            -575.2882721959654,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -2.4225404930128605,
+            -576.7882721959654,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -5.0206167043661765,
+            -578.2882721959654,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -7.6186929157194925,
+            -579.7882721959654,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -10.216769127072808,
+            -581.2882721959654,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -12.814845338426124,
+            -582.7882721959654,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -15.41292154977944,
+            -584.2882721959654,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -18.010997761132757,
+            -585.7882721959654,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -20.609073972486073,
+            -587.2882721959654,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -23.20715018383939,
+            -588.7882721959654,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -25.805226395192705,
+            -590.2882721959654,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -28.40330260654602,
+            -591.7882721959654,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -31.001378817899337,
+            -593.2882721959654,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -31.001378817899337,
+            -593.2882721959654,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -32.50137881789934,
+            -595.8863484073188,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -34.00137881789934,
+            -598.4844246186722,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -60.0,
+            -620.0,
+            63.6064
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-49-37_2006138722/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-49-37_2006138722/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b053ebc9a48eac72e092dbcee5455cab532377d6
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-49-37_2006138722/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -936.8628866411053,
+            -535.4489265127056,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -939.4609628524586,
+            -533.9489265127056,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -942.059039063812,
+            -532.4489265127056,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -944.6571152751653,
+            -530.9489265127056,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -947.2551914865187,
+            -529.4489265127056,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -949.8532676978721,
+            -527.9489265127056,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -952.4513439092254,
+            -526.4489265127056,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -952.4513439092254,
+            -526.4489265127056,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -955.4513439092254,
+            -526.4489265127056,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -958.4513439092254,
+            -526.4489265127056,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -961.4513439092254,
+            -526.4489265127056,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -964.4513439092254,
+            -526.4489265127056,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -967.4513439092254,
+            -526.4489265127056,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -970.4513439092254,
+            -526.4489265127056,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -973.4513439092254,
+            -526.4489265127056,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -996.0,
+            -520.0,
+            75.5737
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-5-12_733327814/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-5-12_733327814/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c0e73bb1780d979487e09bd541c9e6b60027ac3d
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-5-12_733327814/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -829.5897273967707,
+            33.840449527092,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -826.9916511854174,
+            35.340449527092,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -824.393574974064,
+            36.840449527092,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -821.7954987627106,
+            38.340449527092,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -819.1974225513572,
+            39.840449527092,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -816.5993463400039,
+            41.340449527092,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -814.0012701286505,
+            42.840449527092,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -811.4031939172971,
+            44.340449527092,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -808.8051177059438,
+            45.840449527092,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -806.2070414945904,
+            47.340449527092,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -803.608965283237,
+            48.840449527092,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -801.0108890718836,
+            50.340449527092,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -798.4128128605303,
+            51.840449527092,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -795.8147366491769,
+            53.340449527092,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -793.2166604378235,
+            54.840449527092,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -790.6185842264701,
+            56.340449527092,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -788.0205080151168,
+            57.840449527092,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -785.4224318037634,
+            59.340449527092,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -782.82435559241,
+            60.840449527092,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -780.2262793810567,
+            62.340449527092,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -777.6282031697033,
+            63.840449527092,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -764.0,
+            72.0,
+            43.7495
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-56-19_428903682/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-56-19_428903682/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b89fe26207b16500ba7c5375103ba8acc58323c5
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-56-19_428903682/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -964.3485788274741,
+            -349.77525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -966.9466550388274,
+            -351.27525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -969.5447312501808,
+            -352.77525357747703,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -969.5447312501808,
+            -352.77525357747703,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -969.5447312501808,
+            -352.77525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.570796326794906
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -969.5447312501808,
+            -355.77525357747703,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -969.5447312501808,
+            -355.77525357747703,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -969.5447312501808,
+            -355.77525357747703,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -969.5447312501808,
+            -355.77525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -972.5447312501808,
+            -355.77525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -975.5447312501808,
+            -355.77525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -978.5447312501808,
+            -355.77525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -981.5447312501808,
+            -355.77525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -984.5447312501808,
+            -355.77525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -987.5447312501808,
+            -355.77525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -990.5447312501808,
+            -355.77525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -993.5447312501808,
+            -355.77525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -996.5447312501808,
+            -355.77525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -999.5447312501808,
+            -355.77525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1002.5447312501808,
+            -355.77525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1005.5447312501808,
+            -355.77525357747703,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1005.5447312501808,
+            -355.77525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1008.1428074615342,
+            -354.27525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1010.7408836728875,
+            -352.77525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1013.3389598842409,
+            -351.27525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1015.9370360955943,
+            -349.77525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1018.5351123069477,
+            -348.27525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1021.133188518301,
+            -346.77525357747703,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1023.7312647296544,
+            -345.27525357747703,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1048.0,
+            -340.0,
+            75.7737
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-57-7_2033669086/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-57-7_2033669086/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fa5b9962122e5a79d2c6c1494afa001f78db07c5
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_14-57-7_2033669086/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -151.59104238629334,
+            -585.0365866496874,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -148.59104238629334,
+            -585.0365866496874,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -145.59104238629334,
+            -585.0365866496874,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -142.59104238629334,
+            -585.0365866496874,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -139.59104238629334,
+            -585.0365866496874,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -139.59104238629334,
+            -585.0365866496874,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -136.99296617494002,
+            -586.5365866496874,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -134.3948899635867,
+            -588.0365866496874,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -131.7968137522334,
+            -589.5365866496874,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -129.19873754088007,
+            -591.0365866496874,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -126.60066132952676,
+            -592.5365866496874,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -124.00258511817344,
+            -594.0365866496874,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -121.40450890682013,
+            -595.5365866496874,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -118.80643269546681,
+            -597.0365866496874,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -116.2083564841135,
+            -598.5365866496874,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -113.61028027276018,
+            -600.0365866496874,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -113.61028027276018,
+            -600.0365866496874,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -110.61028027276018,
+            -600.0365866496874,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -60.0,
+            -620.0,
+            63.6064
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-15-0_1849552528/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-15-0_1849552528/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1a308b5570684f6b94104c8547d73487900370ea
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-15-0_1849552528/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -188.36307643000444,
+            -176.4269198085287,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -185.36307643000444,
+            -176.4269198085287,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -182.36307643000444,
+            -176.4269198085287,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -179.36307643000444,
+            -176.4269198085287,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -176.36307643000444,
+            -176.4269198085287,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -173.36307643000444,
+            -176.4269198085287,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -170.36307643000444,
+            -176.4269198085287,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -167.36307643000444,
+            -176.4269198085287,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -164.36307643000444,
+            -176.4269198085287,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -161.36307643000444,
+            -176.4269198085287,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -161.36307643000444,
+            -176.4269198085287,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -161.36307643000444,
+            -176.4269198085287,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -159.86307643000444,
+            -173.8288435971754,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -158.36307643000444,
+            -171.23076738582208,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -156.86307643000444,
+            -168.63269117446876,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -155.36307643000444,
+            -166.03461496311544,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -153.86307643000444,
+            -163.43653875176213,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -152.36307643000444,
+            -160.8384625404088,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -150.86307643000444,
+            -158.2403863290555,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -150.86307643000444,
+            -158.2403863290555,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -148.26500021865112,
+            -156.7403863290555,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -145.6669240072978,
+            -155.2403863290555,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -100.0,
+            -136.0,
+            43.732
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-21-48_1402492972/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-21-48_1402492972/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ffd901f7eb3e451971b598238e878e5751cf82ac
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-21-48_1402492972/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1050.0808668283532,
+            -395.5997510652124,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1051.5808668283532,
+            -393.0016748538591,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1053.0808668283532,
+            -390.40359864250576,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1054.5808668283532,
+            -387.80552243115244,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1056.0808668283532,
+            -385.2074462197991,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1057.5808668283532,
+            -382.6093700084458,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1059.0808668283532,
+            -380.0112937970925,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1060.5808668283532,
+            -377.4132175857392,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1062.0808668283532,
+            -374.81514137438586,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1063.5808668283532,
+            -372.21706516303254,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1065.0808668283532,
+            -369.6189889516792,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1065.0808668283532,
+            -369.6189889516792,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1067.6789430397066,
+            -368.1189889516792,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1070.27701925106,
+            -366.6189889516792,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1072.8750954624134,
+            -365.1189889516792,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1092.0,
+            -344.0,
+            62.9681
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-32-29_1337434154/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-32-29_1337434154/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f8574ef3710c3f911d8d57f6f785337d4777bf88
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-32-29_1337434154/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -698.8151860930731,
+            98.98136023773942,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -701.4132623044263,
+            97.48136023773942,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -704.0113385157797,
+            95.98136023773942,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -706.6094147271331,
+            94.48136023773942,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -709.2074909384864,
+            92.98136023773942,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -711.8055671498398,
+            91.48136023773942,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -714.4036433611932,
+            89.98136023773942,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -717.0017195725466,
+            88.48136023773942,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -719.5997957838999,
+            86.98136023773942,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -722.1978719952533,
+            85.48136023773942,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -724.7959482066067,
+            83.98136023773942,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -727.39402441796,
+            82.48136023773942,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -729.9921006293134,
+            80.98136023773942,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -732.5901768406668,
+            79.48136023773942,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -732.5901768406668,
+            79.48136023773942,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -735.5901768406668,
+            79.48136023773942,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -738.5901768406668,
+            79.48136023773942,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -741.5901768406668,
+            79.48136023773942,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -744.5901768406668,
+            79.48136023773942,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -747.5901768406668,
+            79.48136023773942,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -747.5901768406668,
+            79.48136023773942,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -750.1882530520202,
+            77.98136023773942,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -764.0,
+            72.0,
+            43.7495
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-33-49_1794292538/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-33-49_1794292538/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..91e8ad299dd7d540564bffc13ba8f9a8e0888019
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-33-49_1794292538/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -723.6729421501666,
+            -108.65622141843464,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -725.1729421501666,
+            -111.25429762978796,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -726.6729421501666,
+            -113.85237384114127,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -728.1729421501666,
+            -116.45045005249459,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -729.6729421501666,
+            -119.0485262638479,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -731.1729421501666,
+            -121.64660247520122,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -732.6729421501666,
+            -124.24467868655454,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -734.1729421501666,
+            -126.84275489790785,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -735.6729421501666,
+            -129.44083110926118,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393193
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -737.1729421501666,
+            -132.0389073206145,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -738.6729421501666,
+            -134.63698353196781,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -740.1729421501666,
+            -137.23505974332113,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -741.6729421501666,
+            -139.83313595467445,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -743.1729421501666,
+            -142.43121216602776,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -744.6729421501666,
+            -145.02928837738108,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -746.1729421501666,
+            -147.6273645887344,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -747.6729421501666,
+            -150.2254408000877,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -749.1729421501666,
+            -152.82351701144103,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -750.6729421501666,
+            -155.42159322279434,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -752.1729421501666,
+            -158.01966943414766,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -753.6729421501666,
+            -160.61774564550097,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -755.1729421501666,
+            -163.2158218568543,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -756.6729421501666,
+            -165.8138980682076,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -764.0,
+            -180.0,
+            33.629
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-57-41_717293418/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-57-41_717293418/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..775eeaeb482a5af3de2c4b63a1e62cc0ff89728b
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-57-41_717293418/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1009.8725037377608,
+            -123.88919583541329,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1012.4705799491142,
+            -122.38919583541329,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1015.0686561604675,
+            -120.88919583541329,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1017.6667323718209,
+            -119.38919583541329,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1020.2648085831743,
+            -117.88919583541329,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1022.8628847945276,
+            -116.38919583541329,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1025.460961005881,
+            -114.88919583541329,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1028.0590372172344,
+            -113.38919583541329,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1030.6571134285878,
+            -111.88919583541329,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1033.2551896399411,
+            -110.38919583541329,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1035.8532658512945,
+            -108.88919583541329,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1038.4513420626479,
+            -107.38919583541329,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1041.0494182740013,
+            -105.88919583541329,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1043.6474944853546,
+            -104.38919583541329,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1076.0,
+            -84.0,
+            46.329
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-59-6_455843485/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-59-6_455843485/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4d203231c9a435b2b58c107a1325345bee96cd94
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_15-59-6_455843485/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            253.54106749678473,
+            -523.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            253.54106749678473,
+            -526.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            253.54106749678473,
+            -529.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            253.54106749678473,
+            -532.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            253.54106749678473,
+            -535.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            253.54106749678473,
+            -538.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            253.54106749678473,
+            -541.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            253.54106749678473,
+            -544.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            253.54106749678473,
+            -547.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            253.54106749678473,
+            -550.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            253.54106749678473,
+            -553.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            253.54106749678473,
+            -556.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            253.54106749678473,
+            -559.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            253.54106749678473,
+            -562.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            253.54106749678473,
+            -565.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            253.54106749678473,
+            -568.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            253.54106749678473,
+            -571.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            253.54106749678473,
+            -574.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            253.54106749678473,
+            -577.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            253.54106749678473,
+            -580.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            253.54106749678473,
+            -583.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            253.54106749678473,
+            -586.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            253.54106749678473,
+            -589.3682507029298,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            253.54106749678473,
+            -589.3682507029298,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            252.04106749678473,
+            -591.9663269142832,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            250.54106749678473,
+            -594.5644031256365,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            249.04106749678473,
+            -597.1624793369899,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            247.54106749678473,
+            -599.7605555483433,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            244.0,
+            -620.0,
+            33.8289
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-19-25_1386510139/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-19-25_1386510139/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1f0ab455c61a954f839036a3b20bf64a7989cc72
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-19-25_1386510139/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -210.52298146155252,
+            -597.1037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -207.52298146155252,
+            -597.1037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -204.52298146155252,
+            -597.1037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -201.52298146155252,
+            -597.1037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -198.52298146155252,
+            -597.1037461012278,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -198.52298146155252,
+            -597.1037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -195.9249052501992,
+            -595.6037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -193.3268290388459,
+            -594.1037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -190.72875282749257,
+            -592.6037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -188.13067661613925,
+            -591.1037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -185.53260040478594,
+            -589.6037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -182.93452419343262,
+            -588.1037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -180.3364479820793,
+            -586.6037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -177.738371770726,
+            -585.1037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -175.14029555937267,
+            -583.6037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -172.54221934801936,
+            -582.1037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -169.94414313666604,
+            -580.6037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -167.34606692531273,
+            -579.1037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -164.7479907139594,
+            -577.6037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -162.1499145026061,
+            -576.1037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -159.55183829125278,
+            -574.6037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -156.95376207989946,
+            -573.1037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -154.35568586854615,
+            -571.6037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -151.75760965719283,
+            -570.1037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -149.15953344583951,
+            -568.6037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -146.5614572344862,
+            -567.1037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -143.96338102313288,
+            -565.6037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -141.36530481177957,
+            -564.1037461012278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -138.76722860042625,
+            -562.6037461012278,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -128.0,
+            -560.0,
+            45.9813
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-20-41_692981712/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-20-41_692981712/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fd59ace010d09dccbf3fffc81af8a1e638730b60
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-20-41_692981712/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -877.5896882183399,
+            -107.21003739361659,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -877.5896882183399,
+            -104.21003739361659,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -877.5896882183399,
+            -101.21003739361659,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -877.5896882183399,
+            -98.21003739361659,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -877.5896882183399,
+            -95.21003739361659,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -877.5896882183399,
+            -92.21003739361659,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -877.5896882183399,
+            -89.21003739361659,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -877.5896882183399,
+            -86.21003739361659,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -877.5896882183399,
+            -83.21003739361659,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -877.5896882183399,
+            -80.21003739361659,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -877.5896882183399,
+            -77.21003739361659,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -877.5896882183399,
+            -74.21003739361659,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -877.5896882183399,
+            -71.21003739361659,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -877.5896882183399,
+            -68.21003739361659,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -877.5896882183399,
+            -65.21003739361659,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -877.5896882183399,
+            -62.21003739361659,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -877.5896882183399,
+            -59.21003739361659,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -877.5896882183399,
+            -56.21003739361659,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -880.0,
+            -32.0,
+            45.9813
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-26-3_1230769829/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-26-3_1230769829/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c1d9d36dbfe98569d76a22d12e10c3c5ad4e66f
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-26-3_1230769829/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1146.7772760444504,
+            -495.802811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1143.7772760444504,
+            -495.802811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1140.7772760444504,
+            -495.802811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1137.7772760444504,
+            -495.802811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1134.7772760444504,
+            -495.802811777958,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1134.7772760444504,
+            -495.802811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1132.179199833097,
+            -494.302811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1129.5811236217437,
+            -492.802811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1126.9830474103903,
+            -491.302811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1124.384971199037,
+            -489.802811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1121.7868949876836,
+            -488.302811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1119.1888187763302,
+            -486.802811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1116.5907425649768,
+            -485.302811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1113.9926663536235,
+            -483.802811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1111.39459014227,
+            -482.302811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1108.7965139309167,
+            -480.802811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1106.1984377195633,
+            -479.302811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1103.60036150821,
+            -477.802811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1101.0022852968566,
+            -476.302811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1098.4042090855032,
+            -474.802811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1095.8061328741499,
+            -473.302811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1093.2080566627965,
+            -471.802811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1090.609980451443,
+            -470.302811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1088.0119042400897,
+            -468.802811777958,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1085.4138280287364,
+            -467.302811777958,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1076.0,
+            -464.0,
+            33.7789
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-32-34_671068506/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-32-34_671068506/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0e9ba11deb7bbc27cf24b1718f024bc7583960dc
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-32-34_671068506/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -929.2611588996901,
+            -200.7955982707026,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -926.2611588996901,
+            -200.7955982707026,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -923.2611588996901,
+            -200.7955982707026,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -920.2611588996901,
+            -200.7955982707026,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -917.2611588996901,
+            -200.7955982707026,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -914.2611588996901,
+            -200.7955982707026,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -911.2611588996901,
+            -200.7955982707026,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -908.2611588996901,
+            -200.7955982707026,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -905.2611588996901,
+            -200.7955982707026,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -902.2611588996901,
+            -200.7955982707026,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -899.2611588996901,
+            -200.7955982707026,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -896.2611588996901,
+            -200.7955982707026,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -893.2611588996901,
+            -200.7955982707026,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -890.2611588996901,
+            -200.7955982707026,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -868.0,
+            -200.0,
+            62.9925
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-38-35_1947867422/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-38-35_1947867422/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..25f277077c7c8ae98105d040903766cb50b11da5
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-38-35_1947867422/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -919.1248479269494,
+            -312.06819787892334,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -917.6248479269494,
+            -314.66627409027666,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -916.1248479269494,
+            -317.26435030163,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -914.6248479269494,
+            -319.8624265129833,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -913.1248479269494,
+            -322.4605027243366,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -913.1248479269494,
+            -322.4605027243366,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -913.1248479269494,
+            -325.4605027243366,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -913.1248479269494,
+            -328.4605027243366,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -913.1248479269494,
+            -331.4605027243366,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -913.1248479269494,
+            -334.4605027243366,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -900.0,
+            -376.0,
+            36.2919
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-38-44_1435001171/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-38-44_1435001171/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ba9357e983af45470ffd8fcbe664bd843294ccd0
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-38-44_1435001171/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1029.8802287483943,
+            -211.8147487600657,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1032.4783049597477,
+            -213.3147487600657,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1035.076381171101,
+            -214.8147487600657,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1037.6744573824544,
+            -216.3147487600657,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1040.2725335938078,
+            -217.8147487600657,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1042.8706098051612,
+            -219.3147487600657,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1045.4686860165145,
+            -220.8147487600657,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1045.4686860165145,
+            -220.8147487600657,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1048.4686860165145,
+            -220.8147487600657,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1051.4686860165145,
+            -220.8147487600657,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1088.0,
+            -236.0,
+            36.3469
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-46-5_1389079342/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-46-5_1389079342/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d61925c0ea77733fedb84dea4b8a816d852173d3
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-46-5_1389079342/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1061.684204168684,
+            -407.7282826895616,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1063.184204168684,
+            -405.13020647820827,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1064.684204168684,
+            -402.53213026685495,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1066.184204168684,
+            -399.93405405550163,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1067.684204168684,
+            -397.3359778441483,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1069.184204168684,
+            -394.737901632795,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1070.684204168684,
+            -392.1398254214417,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1072.184204168684,
+            -389.54174921008837,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1073.684204168684,
+            -386.94367299873505,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1073.684204168684,
+            -386.94367299873505,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1073.684204168684,
+            -383.94367299873505,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1073.684204168684,
+            -380.94367299873505,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1092.0,
+            -344.0,
+            62.9681
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-54-17_1158747661/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-54-17_1158747661/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..65cffad82df98bb678ec327baca6a280a596b920
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-54-17_1158747661/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1089.3257675970792,
+            -219.75726062732622,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1089.3257675970792,
+            -222.75726062732622,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1089.3257675970792,
+            -225.75726062732622,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1089.3257675970792,
+            -228.75726062732622,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1089.3257675970792,
+            -231.75726062732622,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1089.3257675970792,
+            -234.75726062732622,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1089.3257675970792,
+            -237.75726062732622,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1089.3257675970792,
+            -240.75726062732622,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1089.3257675970792,
+            -243.75726062732622,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1089.3257675970792,
+            -246.75726062732622,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1089.3257675970792,
+            -249.75726062732622,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1089.3257675970792,
+            -252.75726062732622,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1089.3257675970792,
+            -255.75726062732622,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1089.3257675970792,
+            -255.75726062732622,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1090.8257675970792,
+            -258.35533683867953,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1092.3257675970792,
+            -260.95341305003285,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1093.8257675970792,
+            -263.55148926138617,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1095.3257675970792,
+            -266.1495654727395,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1096.8257675970792,
+            -268.7476416840928,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1098.3257675970792,
+            -271.3457178954461,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1099.8257675970792,
+            -273.94379410679943,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1101.3257675970792,
+            -276.54187031815275,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1102.8257675970792,
+            -279.13994652950606,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1104.0,
+            -292.0,
+            36.5802
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-6-41_1881049613/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-6-41_1881049613/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0d558310f88559687e0f4da12d84738e36ba715f
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_16-6-41_1881049613/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -713.3751138214213,
+            -303.07406970625897,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -715.9731900327747,
+            -304.57406970625897,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -718.5712662441281,
+            -306.07406970625897,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -721.1693424554815,
+            -307.57406970625897,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -723.7674186668348,
+            -309.07406970625897,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -726.3654948781882,
+            -310.57406970625897,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -728.9635710895416,
+            -312.07406970625897,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -731.561647300895,
+            -313.57406970625897,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -734.1597235122483,
+            -315.07406970625897,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -736.7577997236017,
+            -316.57406970625897,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -739.3558759349551,
+            -318.07406970625897,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -784.0,
+            -344.0,
+            33.629
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_17-1-23_1281944976/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_17-1-23_1281944976/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0d3d2ff9c4cda47cfe5838a1abf23ef3cd921756
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_17-1-23_1281944976/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -973.4678621838437,
+            -512.8472734561076,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -970.4678621838437,
+            -512.8472734561076,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -967.4678621838437,
+            -512.8472734561076,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -964.4678621838437,
+            -512.8472734561076,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -961.4678621838437,
+            -512.8472734561076,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -958.4678621838437,
+            -512.8472734561076,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -955.4678621838437,
+            -512.8472734561076,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -955.4678621838437,
+            -512.8472734561076,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -955.4678621838437,
+            -512.8472734561076,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -953.9678621838437,
+            -515.445349667461,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -952.4678621838437,
+            -518.0434258788143,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -952.4678621838437,
+            -518.0434258788143,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -949.8697859724905,
+            -519.5434258788143,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -947.2717097611371,
+            -521.0434258788143,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -944.6736335497837,
+            -522.5434258788143,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -942.0755573384304,
+            -524.0434258788143,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -939.477481127077,
+            -525.5434258788143,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -936.8794049157236,
+            -527.0434258788143,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -934.2813287043703,
+            -528.5434258788143,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -931.6832524930169,
+            -530.0434258788143,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -929.0851762816635,
+            -531.5434258788143,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -926.4871000703101,
+            -533.0434258788143,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -908.0,
+            -544.0,
+            115.729
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/medium_short/2025-1-9_17-3-26_309766496/pose.jsonl b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_17-3-26_309766496/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f7d05a7cfd0b0ff618871a00b53286a365899113
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/medium_short/2025-1-9_17-3-26_309766496/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -14.780937132589244,
+            -573.3451026118144,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -17.37901334394256,
+            -574.8451026118144,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -19.977089555295876,
+            -576.3451026118144,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -22.575165766649192,
+            -577.8451026118144,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -25.17324197800251,
+            -579.3451026118144,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -27.771318189355824,
+            -580.8451026118144,
+            45.08563280908995
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -27.771318189355824,
+            -580.8451026118144,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -29.271318189355824,
+            -583.4431788231677,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -30.771318189355824,
+            -586.0412550345211,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -32.271318189355824,
+            -588.6393312458745,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -33.771318189355824,
+            -591.2374074572278,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -35.271318189355824,
+            -593.8354836685812,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -36.771318189355824,
+            -596.4335598799346,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -38.271318189355824,
+            -599.031636091288,
+            45.08563280908995
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -38.271318189355824,
+            -599.031636091288,
+            45.08563280908995
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -40.86939440070914,
+            -600.531636091288,
+            45.08563280908995
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -60.0,
+            -620.0,
+            63.6064
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}