diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-12-33_1974806403/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-12-33_1974806403/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3f3d7b5d22ee86c54db145864b942eaeae95a0b9
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-12-33_1974806403/pose.jsonl
@@ -0,0 +1,235 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            794.3986482828942,
+            162.4563021567789,
+            -5.37672487845753
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            794.3986482828942,
+            159.4563021567789,
+            -5.37672487845753
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            794.3986482828942,
+            156.4563021567789,
+            -5.37672487845753
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            794.3986482828942,
+            153.4563021567789,
+            -5.37672487845753
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            794.3986482828942,
+            150.4563021567789,
+            -5.37672487845753
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            794.3986482828942,
+            147.4563021567789,
+            -5.37672487845753
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            794.3986482828942,
+            144.4563021567789,
+            -5.37672487845753
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            794.3986482828942,
+            141.4563021567789,
+            -5.37672487845753
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            794.3986482828942,
+            138.4563021567789,
+            -5.37672487845753
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            794.3986482828942,
+            135.4563021567789,
+            -5.37672487845753
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            794.3986482828942,
+            132.4563021567789,
+            -5.37672487845753
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            794.3986482828942,
+            129.4563021567789,
+            -5.37672487845753
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            794.3986482828942,
+            126.45630215677889,
+            -5.37672487845753
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            794.3986482828942,
+            123.45630215677889,
+            -5.37672487845753
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            794.3986482828942,
+            120.45630215677889,
+            -5.37672487845753
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            794.3986482828942,
+            117.45630215677889,
+            -5.37672487845753
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            794.3986482828942,
+            114.45630215677889,
+            -5.37672487845753
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            793.9949005126954,
+            95.9690920829773,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-15-35_1543755629/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-15-35_1543755629/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b8e674aff3009e40fccdf48f579168fd1abccbe4
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-15-35_1543755629/pose.jsonl
@@ -0,0 +1,248 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            470.10907895173483,
+            324.5953984677621,
+            -8.078852705359616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            471.60907895173483,
+            321.9973222564088,
+            -8.078852705359616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            473.10907895173483,
+            319.39924604505546,
+            -8.078852705359616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            474.60907895173483,
+            316.80116983370215,
+            -8.078852705359616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            476.10907895173483,
+            314.20309362234883,
+            -8.078852705359616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            477.60907895173483,
+            311.6050174109955,
+            -8.078852705359616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            479.10907895173483,
+            309.0069411996422,
+            -8.078852705359616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            480.60907895173483,
+            306.4088649882889,
+            -8.078852705359616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            482.10907895173483,
+            303.81078877693557,
+            -8.078852705359616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            483.60907895173483,
+            301.21271256558225,
+            -8.078852705359616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            485.10907895173483,
+            298.61463635422894,
+            -8.078852705359616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            486.60907895173483,
+            296.0165601428756,
+            -8.078852705359616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            488.10907895173483,
+            293.4184839315223,
+            -8.078852705359616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            489.60907895173483,
+            290.820407720169,
+            -8.078852705359616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            491.10907895173483,
+            288.22233150881567,
+            -8.078852705359616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            492.60907895173483,
+            285.62425529746235,
+            -8.078852705359616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            494.10907895173483,
+            283.02617908610904,
+            -8.078852705359616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            495.60907895173483,
+            280.4281028747557,
+            -8.078852705359616
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            498.19472236633305,
+            281.0884632110596,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-21-21_1081174232/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-21-21_1081174232/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b02cc3d0f6c6d2ae178fbe6ca27f27f85fde4d13
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-21-21_1081174232/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            755.2313273712066,
+            -509.1050884775296,
+            -0.1375928101086803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            756.7313273712066,
+            -506.5070122661763,
+            -0.1375928101086803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            758.2313273712066,
+            -503.90893605482296,
+            -0.1375928101086803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            759.7313273712066,
+            -501.31085984346964,
+            -0.1375928101086803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            761.2313273712066,
+            -498.7127836321163,
+            -0.1375928101086803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            762.7313273712066,
+            -496.114707420763,
+            -0.1375928101086803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            764.2313273712066,
+            -493.5166312094097,
+            -0.1375928101086803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            765.7313273712066,
+            -490.9185549980564,
+            -0.1375928101086803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            767.2313273712066,
+            -488.32047878670306,
+            -0.1375928101086803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            768.7313273712066,
+            -485.72240257534975,
+            -0.1375928101086803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            770.2313273712066,
+            -483.12432636399643,
+            -0.1375928101086803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            771.7313273712066,
+            -480.5262501526431,
+            -0.1375928101086803
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            771.7313273712066,
+            -480.5262501526431,
+            -0.1375928101086803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            771.7313273712066,
+            -477.5262501526431,
+            -0.1375928101086803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            771.7313273712066,
+            -474.5262501526431,
+            -0.1375928101086803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            771.7313273712066,
+            -471.5262501526431,
+            -0.1375928101086803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            771.7313273712066,
+            -468.5262501526431,
+            -0.1375928101086803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            771.7313273712066,
+            -465.5262501526431,
+            -0.1375928101086803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            771.7313273712066,
+            -462.5262501526431,
+            -0.1375928101086803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            771.7313273712066,
+            -459.5262501526431,
+            -0.1375928101086803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            771.7313273712066,
+            -456.5262501526431,
+            -0.1375928101086803
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            771.7313273712066,
+            -453.5262501526431,
+            -0.1375928101086803
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            770.3367736816407,
+            -451.65129089355474,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-21-8_337453826/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-21-8_337453826/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..00f18ca6c934123e9b3609484c28f172297cd293
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-21-8_337453826/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1277.8344835392124,
+            -212.54101200828697,
+            -7.480207521585598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1280.8344835392124,
+            -212.54101200828697,
+            -7.480207521585598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1283.8344835392124,
+            -212.54101200828697,
+            -7.480207521585598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1286.8344835392124,
+            -212.54101200828697,
+            -7.480207521585598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1289.8344835392124,
+            -212.54101200828697,
+            -7.480207521585598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1292.8344835392124,
+            -212.54101200828697,
+            -7.480207521585598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1295.8344835392124,
+            -212.54101200828697,
+            -7.480207521585598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1298.8344835392124,
+            -212.54101200828697,
+            -7.480207521585598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1301.8344835392124,
+            -212.54101200828697,
+            -7.480207521585598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1304.8344835392124,
+            -212.54101200828697,
+            -7.480207521585598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1307.8344835392124,
+            -212.54101200828697,
+            -7.480207521585598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1310.8344835392124,
+            -212.54101200828697,
+            -7.480207521585598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1313.8344835392124,
+            -212.54101200828697,
+            -7.480207521585598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1316.8344835392124,
+            -212.54101200828697,
+            -7.480207521585598
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1316.8344835392124,
+            -212.54101200828697,
+            -7.480207521585598
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1316.8344835392124,
+            -212.54101200828697,
+            -7.480207521585598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1318.3344835392124,
+            -215.13908821964029,
+            -7.480207521585598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1319.8344835392124,
+            -217.7371644309936,
+            -7.480207521585598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1321.3344835392124,
+            -220.33524064234692,
+            -7.480207521585598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1322.8344835392124,
+            -222.93331685370023,
+            -7.480207521585598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1324.3344835392124,
+            -225.53139306505355,
+            -7.480207521585598
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1324.3344835392124,
+            -225.53139306505355,
+            -7.480207521585598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1326.9325597505658,
+            -227.03139306505355,
+            -7.480207521585598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1329.5306359619192,
+            -228.53139306505355,
+            -7.480207521585598
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1332.318264770508,
+            -228.70366058349612,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-29-33_885799631/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-29-33_885799631/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1f0449d0bacfbbf140d1d59c1c4b1966169e0705
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-29-33_885799631/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            85.64477704456294,
+            -611.7200295602512,
+            -1.7660048692080128
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            83.04670083320963,
+            -610.2200295602512,
+            -1.7660048692080128
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            80.44862462185631,
+            -608.7200295602512,
+            -1.7660048692080128
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            77.850548410503,
+            -607.2200295602512,
+            -1.7660048692080128
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            75.25247219914968,
+            -605.7200295602512,
+            -1.7660048692080128
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            72.65439598779636,
+            -604.2200295602512,
+            -1.7660048692080128
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            70.05631977644305,
+            -602.7200295602512,
+            -1.7660048692080128
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            67.45824356508973,
+            -601.2200295602512,
+            -1.7660048692080128
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            64.86016735373641,
+            -599.7200295602512,
+            -1.7660048692080128
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            62.2620911423831,
+            -598.2200295602512,
+            -1.7660048692080128
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            59.66401493102978,
+            -596.7200295602512,
+            -1.7660048692080128
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            57.06593871967647,
+            -595.2200295602512,
+            -1.7660048692080128
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            54.46786250832315,
+            -593.7200295602512,
+            -1.7660048692080128
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            51.869786296969835,
+            -592.2200295602512,
+            -1.7660048692080128
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            49.27171008561652,
+            -590.7200295602512,
+            -1.7660048692080128
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            46.6736338742632,
+            -589.2200295602512,
+            -1.7660048692080128
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            46.6736338742632,
+            -589.2200295602512,
+            -1.7660048692080128
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            43.6736338742632,
+            -589.2200295602512,
+            -1.7660048692080128
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            40.6736338742632,
+            -589.2200295602512,
+            -1.7660048692080128
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            37.6736338742632,
+            -589.2200295602512,
+            -1.7660048692080128
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            34.6736338742632,
+            -589.2200295602512,
+            -1.7660048692080128
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            31.673633874263203,
+            -589.2200295602512,
+            -1.7660048692080128
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            29.783947944641117,
+            -587.6620632171631,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-40-39_1001089438/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-40-39_1001089438/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..146c5af8bf63af2927a6bdc41d92eb58c4031ef8
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-40-39_1001089438/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1381.2577191903902,
+            -208.13279733889374,
+            -1.0404551523304733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1384.2577191903902,
+            -208.13279733889374,
+            -1.0404551523304733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1387.2577191903902,
+            -208.13279733889374,
+            -1.0404551523304733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1390.2577191903902,
+            -208.13279733889374,
+            -1.0404551523304733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1393.2577191903902,
+            -208.13279733889374,
+            -1.0404551523304733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1396.2577191903902,
+            -208.13279733889374,
+            -1.0404551523304733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1399.2577191903902,
+            -208.13279733889374,
+            -1.0404551523304733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1402.2577191903902,
+            -208.13279733889374,
+            -1.0404551523304733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1405.2577191903902,
+            -208.13279733889374,
+            -1.0404551523304733
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1405.2577191903902,
+            -208.13279733889374,
+            -1.0404551523304733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1407.8557954017435,
+            -206.63279733889374,
+            -1.0404551523304733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1410.453871613097,
+            -205.13279733889374,
+            -1.0404551523304733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1413.0519478244503,
+            -203.63279733889374,
+            -1.0404551523304733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1415.6500240358037,
+            -202.13279733889374,
+            -1.0404551523304733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1418.248100247157,
+            -200.63279733889374,
+            -1.0404551523304733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1420.8461764585104,
+            -199.13279733889374,
+            -1.0404551523304733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1423.4442526698638,
+            -197.63279733889374,
+            -1.0404551523304733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1426.0423288812171,
+            -196.13279733889374,
+            -1.0404551523304733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1428.6404050925705,
+            -194.63279733889374,
+            -1.0404551523304733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1431.238481303924,
+            -193.13279733889374,
+            -1.0404551523304733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1433.8365575152773,
+            -191.63279733889374,
+            -1.0404551523304733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1436.4346337266306,
+            -190.13279733889374,
+            -1.0404551523304733
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1437.3104949951173,
+            -187.02000331878662,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-55-11_1344593499/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-55-11_1344593499/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..445d784b262c44b8172ad207eeb64f0fad946ac0
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-55-11_1344593499/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1495.7179315661308,
+            -204.78173074405612,
+            -5.7588568779414135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1493.1198553547774,
+            -203.28173074405612,
+            -5.7588568779414135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1490.521779143424,
+            -201.78173074405612,
+            -5.7588568779414135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1487.9237029320707,
+            -200.28173074405612,
+            -5.7588568779414135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1485.3256267207173,
+            -198.78173074405612,
+            -5.7588568779414135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1482.727550509364,
+            -197.28173074405612,
+            -5.7588568779414135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1480.1294742980106,
+            -195.78173074405612,
+            -5.7588568779414135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1477.5313980866572,
+            -194.28173074405612,
+            -5.7588568779414135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1474.9333218753038,
+            -192.78173074405612,
+            -5.7588568779414135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1472.3352456639504,
+            -191.28173074405612,
+            -5.7588568779414135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1469.737169452597,
+            -189.78173074405612,
+            -5.7588568779414135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1467.1390932412437,
+            -188.28173074405612,
+            -5.7588568779414135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1464.5410170298903,
+            -186.78173074405612,
+            -5.7588568779414135
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1464.5410170298903,
+            -186.78173074405612,
+            -5.7588568779414135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1461.5410170298903,
+            -186.78173074405612,
+            -5.7588568779414135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1458.5410170298903,
+            -186.78173074405612,
+            -5.7588568779414135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1455.5410170298903,
+            -186.78173074405612,
+            -5.7588568779414135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1452.5410170298903,
+            -186.78173074405612,
+            -5.7588568779414135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1449.5410170298903,
+            -186.78173074405612,
+            -5.7588568779414135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1446.5410170298903,
+            -186.78173074405612,
+            -5.7588568779414135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1443.5410170298903,
+            -186.78173074405612,
+            -5.7588568779414135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1440.5410170298903,
+            -186.78173074405612,
+            -5.7588568779414135
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1437.3104949951173,
+            -187.02000331878662,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-18-9_772970072/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-18-9_772970072/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3bac7bcf5310175a0ac27240b90e20d13d8c4d7c
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-18-9_772970072/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1.6370491458464684,
+            144.26203756090507,
+            -5.99000613755785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1.3629508541535316,
+            144.26203756090507,
+            -5.99000613755785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            4.362950854153532,
+            144.26203756090507,
+            -5.99000613755785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            7.362950854153532,
+            144.26203756090507,
+            -5.99000613755785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            10.362950854153532,
+            144.26203756090507,
+            -5.99000613755785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            13.362950854153532,
+            144.26203756090507,
+            -5.99000613755785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            16.36295085415353,
+            144.26203756090507,
+            -5.99000613755785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            19.36295085415353,
+            144.26203756090507,
+            -5.99000613755785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            22.36295085415353,
+            144.26203756090507,
+            -5.99000613755785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            25.36295085415353,
+            144.26203756090507,
+            -5.99000613755785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            28.36295085415353,
+            144.26203756090507,
+            -5.99000613755785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            31.36295085415353,
+            144.26203756090507,
+            -5.99000613755785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            34.36295085415353,
+            144.26203756090507,
+            -5.99000613755785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            37.36295085415353,
+            144.26203756090507,
+            -5.99000613755785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            40.36295085415353,
+            144.26203756090507,
+            -5.99000613755785
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            40.36295085415353,
+            144.26203756090507,
+            -5.99000613755785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            42.96102706550685,
+            145.76203756090507,
+            -5.99000613755785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            45.559103276860164,
+            147.26203756090507,
+            -5.99000613755785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            48.15717948821348,
+            148.76203756090507,
+            -5.99000613755785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            50.755255699566796,
+            150.26203756090507,
+            -5.99000613755785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            53.35333191092011,
+            151.76203756090507,
+            -5.99000613755785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            55.95140812227343,
+            153.26203756090507,
+            -5.99000613755785
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            59.49086513519288,
+            153.78228397369386,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-20-10_1003886059/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-20-10_1003886059/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fdab45bf6b2cd980183496c5515a7081e68a7525
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-20-10_1003886059/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1434.7689504372793,
+            1.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1434.7689504372793,
+            4.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1434.7689504372793,
+            7.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1434.7689504372793,
+            10.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1434.7689504372793,
+            13.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1434.7689504372793,
+            16.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1434.7689504372793,
+            19.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1434.7689504372793,
+            22.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1434.7689504372793,
+            25.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1434.7689504372793,
+            28.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1434.7689504372793,
+            31.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1434.7689504372793,
+            34.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1434.7689504372793,
+            37.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1434.7689504372793,
+            40.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1434.7689504372793,
+            43.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1434.7689504372793,
+            46.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1434.7689504372793,
+            49.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1434.7689504372793,
+            52.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1434.7689504372793,
+            55.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1434.7689504372793,
+            58.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1434.7689504372793,
+            61.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1434.7689504372793,
+            64.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1434.7689504372793,
+            67.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1434.7689504372793,
+            70.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1434.7689504372793,
+            73.25234326415233,
+            -7.226438990849885
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1432.5684967041016,
+            76.17316565513612,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-28-36_932862806/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-28-36_932862806/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d97c950fb33fac4bbe2e10a99082d7b9537ab9a1
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-28-36_932862806/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            894.9304832571446,
+            -346.20865493682714,
+            -7.391809609693804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            896.4304832571446,
+            -343.61057872547383,
+            -7.391809609693804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            897.9304832571446,
+            -341.0125025141205,
+            -7.391809609693804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            899.4304832571446,
+            -338.4144263027672,
+            -7.391809609693804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            900.9304832571446,
+            -335.8163500914139,
+            -7.391809609693804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            902.4304832571446,
+            -333.21827388006056,
+            -7.391809609693804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            903.9304832571446,
+            -330.62019766870725,
+            -7.391809609693804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            905.4304832571446,
+            -328.02212145735393,
+            -7.391809609693804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            906.9304832571446,
+            -325.4240452460006,
+            -7.391809609693804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            908.4304832571446,
+            -322.8259690346473,
+            -7.391809609693804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            909.9304832571446,
+            -320.227892823294,
+            -7.391809609693804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            911.4304832571446,
+            -317.62981661194067,
+            -7.391809609693804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            912.9304832571446,
+            -315.03174040058735,
+            -7.391809609693804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            914.4304832571446,
+            -312.43366418923404,
+            -7.391809609693804
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            914.4304832571446,
+            -312.43366418923404,
+            -7.391809609693804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            914.4304832571446,
+            -309.43366418923404,
+            -7.391809609693804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            914.4304832571446,
+            -306.43366418923404,
+            -7.391809609693804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            914.4304832571446,
+            -303.43366418923404,
+            -7.391809609693804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            914.4304832571446,
+            -300.43366418923404,
+            -7.391809609693804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            914.4304832571446,
+            -297.43366418923404,
+            -7.391809609693804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            914.4304832571446,
+            -294.43366418923404,
+            -7.391809609693804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            914.4304832571446,
+            -291.43366418923404,
+            -7.391809609693804
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            919.2332725524903,
+            -271.52674827575686,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-34-13_11671338/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-34-13_11671338/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..87c4ba0dc8f6914e7aad6483b2593e6cf1f3fe1f
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-34-13_11671338/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1312.5942868875861,
+            -96.39632138765195,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1315.5942868875861,
+            -96.39632138765195,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1318.5942868875861,
+            -96.39632138765195,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1321.5942868875861,
+            -96.39632138765195,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1324.5942868875861,
+            -96.39632138765195,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1327.5942868875861,
+            -96.39632138765195,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1330.5942868875861,
+            -96.39632138765195,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1333.5942868875861,
+            -96.39632138765195,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1336.5942868875861,
+            -96.39632138765195,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1339.5942868875861,
+            -96.39632138765195,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1342.5942868875861,
+            -96.39632138765195,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1345.5942868875861,
+            -96.39632138765195,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1348.5942868875861,
+            -96.39632138765195,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1351.5942868875861,
+            -96.39632138765195,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1354.5942868875861,
+            -96.39632138765195,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1357.5942868875861,
+            -96.39632138765195,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1360.5942868875861,
+            -96.39632138765195,
+            -6.982057891229091
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1360.5942868875861,
+            -96.39632138765195,
+            -6.982057891229091
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1360.5942868875861,
+            -96.39632138765195,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1362.0942868875861,
+            -93.79824517629864,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1363.5942868875861,
+            -91.20016896494532,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1365.0942868875861,
+            -88.602092753592,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1366.5942868875861,
+            -86.00401654223869,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1368.0942868875861,
+            -83.40594033088537,
+            -6.982057891229091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1369.5942868875861,
+            -80.80786411953206,
+            -6.982057891229091
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1381.41708984375,
+            -76.18637247085572,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-41-14_2006138722/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-41-14_2006138722/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..94a108c7246bbf04f1e5542404564d26b2b3f54c
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-41-14_2006138722/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            243.04442272185923,
+            -131.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            243.04442272185923,
+            -134.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            243.04442272185923,
+            -137.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            243.04442272185923,
+            -140.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            243.04442272185923,
+            -143.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            243.04442272185923,
+            -146.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            243.04442272185923,
+            -149.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            243.04442272185923,
+            -152.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            243.04442272185923,
+            -155.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            243.04442272185923,
+            -158.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            243.04442272185923,
+            -161.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            243.04442272185923,
+            -164.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            243.04442272185923,
+            -167.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            243.04442272185923,
+            -170.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            243.04442272185923,
+            -173.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            243.04442272185923,
+            -176.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            243.04442272185923,
+            -179.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            243.04442272185923,
+            -182.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            243.04442272185923,
+            -185.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            243.04442272185923,
+            -188.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            243.04442272185923,
+            -191.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            243.04442272185923,
+            -194.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            243.04442272185923,
+            -197.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            243.04442272185923,
+            -200.68885413886764,
+            -9.95872722482572
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            241.1424083709717,
+            -202.41772613525393,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-55-31_846621269/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-55-31_846621269/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..11589b003b325899aa972623975f26bef4cc41e0
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-55-31_846621269/pose.jsonl
@@ -0,0 +1,53 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1152.2282709309643,
+            -261.18968457895545,
+            -2.962493655497937
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1150.7282709309643,
+            -258.59160836760213,
+            -2.962493655497937
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1149.2282709309643,
+            -255.99353215624882,
+            -2.962493655497937
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1136.0676353454592,
+            -208.6565689086914,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-56-13_1936060910/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-56-13_1936060910/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fdd12b7715a6b05023c3a6bb67732cb2276200fc
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-56-13_1936060910/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -106.6412070724774,
+            -721.1055387201857,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -108.1412070724774,
+            -718.5074625088323,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -109.6412070724774,
+            -715.9093862974789,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -111.1412070724774,
+            -713.3113100861256,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -112.6412070724774,
+            -710.7132338747722,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -114.1412070724774,
+            -708.1151576634188,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -115.6412070724774,
+            -705.5170814520654,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -117.1412070724774,
+            -702.9190052407121,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -118.6412070724774,
+            -700.3209290293587,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -120.1412070724774,
+            -697.7228528180053,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -121.6412070724774,
+            -695.124776606652,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -123.1412070724774,
+            -692.5267003952986,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -124.6412070724774,
+            -689.9286241839452,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -126.1412070724774,
+            -687.3305479725918,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -127.6412070724774,
+            -684.7324717612385,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -129.14120707247739,
+            -682.1343955498851,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393182
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -130.64120707247739,
+            -679.5363193385317,
+            -2.1798908917511124
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -130.64120707247739,
+            -679.5363193385317,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -130.64120707247739,
+            -676.5363193385317,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -130.64120707247739,
+            -673.5363193385317,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -130.64120707247739,
+            -670.5363193385317,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -130.64120707247739,
+            -667.5363193385317,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -130.64120707247739,
+            -664.5363193385317,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -130.64120707247739,
+            -661.5363193385317,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -130.64120707247739,
+            -658.5363193385317,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -130.64120707247739,
+            -655.5363193385317,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -130.64120707247739,
+            -652.5363193385317,
+            -2.1798908917511124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -130.64120707247739,
+            -649.5363193385317,
+            -2.1798908917511124
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -129.48518104553224,
+            -646.8201499938965,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-57-5_989241888/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-57-5_989241888/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b0a20792cb7380c07c44181912d01a781063439e
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-57-5_989241888/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            808.0309480172123,
+            -391.20046005065615,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            806.5309480172123,
+            -393.79853626200946,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            805.0309480172123,
+            -396.3966124733628,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            803.5309480172123,
+            -398.9946886847161,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            802.0309480172123,
+            -401.5927648960694,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            800.5309480172123,
+            -404.1908411074227,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            799.0309480172123,
+            -406.78891731877604,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            797.5309480172123,
+            -409.38699353012936,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            796.0309480172123,
+            -411.9850697414827,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            794.5309480172123,
+            -414.583145952836,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            793.0309480172123,
+            -417.1812221641893,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            791.5309480172123,
+            -419.7792983755426,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            790.0309480172123,
+            -422.37737458689594,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            788.5309480172123,
+            -424.97545079824926,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            787.0309480172123,
+            -427.57352700960257,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            785.5309480172123,
+            -430.1716032209559,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            784.0309480172123,
+            -432.7696794323092,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            782.5309480172123,
+            -435.3677556436625,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            781.0309480172123,
+            -437.96583185501584,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            779.5309480172123,
+            -440.56390806636915,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            778.0309480172123,
+            -443.16198427772247,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            776.5309480172123,
+            -445.7600604890758,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            775.0309480172123,
+            -448.3581367004291,
+            -9.206972732514027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            773.5309480172123,
+            -450.9562129117824,
+            -9.206972732514027
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            770.3367736816407,
+            -451.65129089355474,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-0-12_396377017/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-0-12_396377017/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f47a480ddcc5bf65cfc8e2b8ff4d8bda30735d6b
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-0-12_396377017/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -304.6375689176961,
+            -34.235382618491414,
+            -4.271276699637726
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -302.0394927063428,
+            -35.735382618491414,
+            -4.271276699637726
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -299.4414164949895,
+            -37.235382618491414,
+            -4.271276699637726
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -296.84334028363617,
+            -38.735382618491414,
+            -4.271276699637726
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -294.24526407228285,
+            -40.235382618491414,
+            -4.271276699637726
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -291.64718786092953,
+            -41.735382618491414,
+            -4.271276699637726
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -289.0491116495762,
+            -43.235382618491414,
+            -4.271276699637726
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -286.4510354382229,
+            -44.735382618491414,
+            -4.271276699637726
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -283.8529592268696,
+            -46.235382618491414,
+            -4.271276699637726
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -281.25488301551627,
+            -47.735382618491414,
+            -4.271276699637726
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -278.65680680416295,
+            -49.235382618491414,
+            -4.271276699637726
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -276.05873059280964,
+            -50.735382618491414,
+            -4.271276699637726
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -273.4606543814563,
+            -52.235382618491414,
+            -4.271276699637726
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -270.862578170103,
+            -53.735382618491414,
+            -4.271276699637726
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -268.2645019587497,
+            -55.235382618491414,
+            -4.271276699637726
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -265.6664257473964,
+            -56.735382618491414,
+            -4.271276699637726
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -263.06834953604306,
+            -58.235382618491414,
+            -4.271276699637726
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -260.47027332468974,
+            -59.735382618491414,
+            -4.271276699637726
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -257.8721971133364,
+            -61.235382618491414,
+            -4.271276699637726
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -254.59913692474368,
+            -62.6346962928772,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-17-51_394709364/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-17-51_394709364/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..45e9ba6d6f04473162a86ee12accebce8a2d364e
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-17-51_394709364/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            68.31392782725057,
+            -520.8560753257032,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            66.81392782725057,
+            -523.4541515370565,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            65.31392782725057,
+            -526.0522277484099,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            63.813927827250566,
+            -528.6503039597633,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            62.313927827250566,
+            -531.2483801711167,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            60.813927827250566,
+            -533.84645638247,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            59.313927827250566,
+            -536.4445325938234,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            57.813927827250566,
+            -539.0426088051768,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            56.313927827250566,
+            -541.6406850165301,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            54.813927827250566,
+            -544.2387612278835,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            53.313927827250566,
+            -546.8368374392369,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            51.813927827250566,
+            -549.4349136505903,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            50.313927827250566,
+            -552.0329898619436,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            48.813927827250566,
+            -554.631066073297,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            47.313927827250566,
+            -557.2291422846504,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            45.813927827250566,
+            -559.8272184960038,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            44.313927827250566,
+            -562.4252947073571,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            42.813927827250566,
+            -565.0233709187105,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            41.313927827250566,
+            -567.6214471300639,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            39.813927827250566,
+            -570.2195233414172,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            38.313927827250566,
+            -572.8175995527706,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            36.813927827250566,
+            -575.415675764124,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            35.313927827250566,
+            -578.0137519754774,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            33.813927827250566,
+            -580.6118281868307,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            32.313927827250566,
+            -583.2099043981841,
+            -5.348246630198351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            30.813927827250566,
+            -585.8079806095375,
+            -5.348246630198351
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            29.783947944641117,
+            -587.6620632171631,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-26-41_612353198/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-26-41_612353198/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..abf01eb3c0a46d2d95cb1e38131fc179e438281c
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-26-41_612353198/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -109.3069394179811,
+            -701.8100225915056,
+            -4.950015343819273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -110.8069394179811,
+            -699.2119463801523,
+            -4.950015343819273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -112.3069394179811,
+            -696.6138701687989,
+            -4.950015343819273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -113.8069394179811,
+            -694.0157939574456,
+            -4.950015343819273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -115.3069394179811,
+            -691.4177177460922,
+            -4.950015343819273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -116.8069394179811,
+            -688.8196415347388,
+            -4.950015343819273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -118.3069394179811,
+            -686.2215653233854,
+            -4.950015343819273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -119.8069394179811,
+            -683.6234891120321,
+            -4.950015343819273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -121.3069394179811,
+            -681.0254129006787,
+            -4.950015343819273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -122.8069394179811,
+            -678.4273366893253,
+            -4.950015343819273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -124.3069394179811,
+            -675.829260477972,
+            -4.950015343819273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -125.8069394179811,
+            -673.2311842666186,
+            -4.950015343819273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -127.3069394179811,
+            -670.6331080552652,
+            -4.950015343819273
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -127.3069394179811,
+            -670.6331080552652,
+            -4.950015343819273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -127.3069394179811,
+            -667.6331080552652,
+            -4.950015343819273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -127.3069394179811,
+            -664.6331080552652,
+            -4.950015343819273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -127.3069394179811,
+            -661.6331080552652,
+            -4.950015343819273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -127.3069394179811,
+            -658.6331080552652,
+            -4.950015343819273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -127.3069394179811,
+            -655.6331080552652,
+            -4.950015343819273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -127.3069394179811,
+            -652.6331080552652,
+            -4.950015343819273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -127.3069394179811,
+            -649.6331080552652,
+            -4.950015343819273
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -129.48518104553224,
+            -646.8201499938965,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-34-37_990526343/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-34-37_990526343/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ec510fb85cb698b97b22b139760b71696124f22c
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-34-37_990526343/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -20.42212248651483,
+            -7.097202549410042,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -18.92212248651483,
+            -9.695278760763358,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -17.42212248651483,
+            -12.293354972116674,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -15.92212248651483,
+            -14.89143118346999,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -14.42212248651483,
+            -17.489507394823306,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -12.92212248651483,
+            -20.087583606176622,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -11.42212248651483,
+            -22.685659817529938,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -9.92212248651483,
+            -25.283736028883254,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -8.42212248651483,
+            -27.88181224023657,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -6.92212248651483,
+            -30.479888451589886,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -5.42212248651483,
+            -33.0779646629432,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -3.9221224865148296,
+            -35.67604087429652,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -2.422122486514829,
+            -38.274117085649834,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -0.9221224865148288,
+            -40.87219329700315,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            0.5778775134851717,
+            -43.470269508356466,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            2.077877513485172,
+            -46.06834571970978,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            3.5778775134851726,
+            -48.6664219310631,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            5.0778775134851735,
+            -51.264498142416414,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965974
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            6.5778775134851735,
+            -53.86257435376973,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            8.077877513485173,
+            -56.460650565123046,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            9.577877513485173,
+            -59.05872677647636,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            11.077877513485173,
+            -61.65680298782968,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            12.577877513485173,
+            -64.254879199183,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            14.077877513485173,
+            -66.85295541053631,
+            -2.902429101414218
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            15.577877513485173,
+            -69.45103162188963,
+            -2.902429101414218
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            17.12450046539307,
+            -73.06071357727052,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-46-42_1330573317/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-46-42_1330573317/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4fdfe5e8ded0e5b69217ab794c94f5f58a28a5af
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-46-42_1330573317/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1212.6916628872966,
+            151.2230376991357,
+            -1.9058915002951178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1215.6916628872966,
+            151.2230376991357,
+            -1.9058915002951178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1218.6916628872966,
+            151.2230376991357,
+            -1.9058915002951178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1221.6916628872966,
+            151.2230376991357,
+            -1.9058915002951178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1224.6916628872966,
+            151.2230376991357,
+            -1.9058915002951178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1227.6916628872966,
+            151.2230376991357,
+            -1.9058915002951178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1230.6916628872966,
+            151.2230376991357,
+            -1.9058915002951178
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1230.6916628872966,
+            151.2230376991357,
+            -1.9058915002951178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1233.28973909865,
+            152.7230376991357,
+            -1.9058915002951178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1235.8878153100034,
+            154.2230376991357,
+            -1.9058915002951178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1238.4858915213567,
+            155.7230376991357,
+            -1.9058915002951178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1241.08396773271,
+            157.2230376991357,
+            -1.9058915002951178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1243.6820439440635,
+            158.7230376991357,
+            -1.9058915002951178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1246.2801201554169,
+            160.2230376991357,
+            -1.9058915002951178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1248.8781963667702,
+            161.7230376991357,
+            -1.9058915002951178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1251.4762725781236,
+            163.2230376991357,
+            -1.9058915002951178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1254.074348789477,
+            164.7230376991357,
+            -1.9058915002951178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1256.6724250008303,
+            166.2230376991357,
+            -1.9058915002951178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1259.2705012121837,
+            167.7230376991357,
+            -1.9058915002951178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1261.868577423537,
+            169.2230376991357,
+            -1.9058915002951178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1264.4666536348905,
+            170.7230376991357,
+            -1.9058915002951178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1267.0647298462438,
+            172.2230376991357,
+            -1.9058915002951178
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1269.6296508789064,
+            175.0053077697754,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-54-27_515530019/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-54-27_515530019/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6a57b35012421669e96e5f829fc4857f9e6d7749
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-54-27_515530019/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1540.7292357949132,
+            30.176802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1538.1311595835598,
+            28.676802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1535.5330833722064,
+            27.176802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1532.935007160853,
+            25.676802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1530.3369309494997,
+            24.176802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1527.7388547381463,
+            22.676802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1525.140778526793,
+            21.176802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1522.5427023154396,
+            19.676802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1519.9446261040862,
+            18.176802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1517.3465498927328,
+            16.676802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1514.7484736813794,
+            15.176802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1512.150397470026,
+            13.676802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1509.5523212586727,
+            12.176802483996095,
+            -5.377453056717126
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1509.5523212586727,
+            12.176802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1506.5523212586727,
+            12.176802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1503.5523212586727,
+            12.176802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1500.5523212586727,
+            12.176802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1497.5523212586727,
+            12.176802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1494.5523212586727,
+            12.176802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1491.5523212586727,
+            12.176802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1488.5523212586727,
+            12.176802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1485.5523212586727,
+            12.176802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1482.5523212586727,
+            12.176802483996095,
+            -5.377453056717126
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1479.5523212586727,
+            12.176802483996095,
+            -5.377453056717126
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1477.724824523926,
+            10.967879819869996,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-15-53_1335354340/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-15-53_1335354340/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cf6af8f54a45d36b1053c116b62ec4ed24fa21ca
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-15-53_1335354340/pose.jsonl
@@ -0,0 +1,196 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            536.3598513614612,
+            -211.9373704579738,
+            -7.263180135753501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            533.761775150108,
+            -213.4373704579738,
+            -7.263180135753501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            531.1636989387546,
+            -214.9373704579738,
+            -7.263180135753501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            528.5656227274012,
+            -216.4373704579738,
+            -7.263180135753501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            525.9675465160478,
+            -217.9373704579738,
+            -7.263180135753501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            523.3694703046945,
+            -219.4373704579738,
+            -7.263180135753501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            520.7713940933411,
+            -220.9373704579738,
+            -7.263180135753501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            518.1733178819877,
+            -222.4373704579738,
+            -7.263180135753501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            515.5752416706343,
+            -223.9373704579738,
+            -7.263180135753501
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            515.5752416706343,
+            -223.9373704579738,
+            -7.263180135753501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            512.5752416706343,
+            -223.9373704579738,
+            -7.263180135753501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            509.57524167063434,
+            -223.9373704579738,
+            -7.263180135753501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            506.57524167063434,
+            -223.9373704579738,
+            -7.263180135753501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            503.57524167063434,
+            -223.9373704579738,
+            -7.263180135753501
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            485.3397609710694,
+            -231.23137340545657,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-19-4_1402586708/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-19-4_1402586708/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bccfcfa667f357373cc9217e8ceae817e6bbd4bc
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-19-4_1402586708/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -199.47683605447241,
+            -384.8407173015631,
+            -3.578916751823755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -199.47683605447241,
+            -387.8407173015631,
+            -3.578916751823755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -199.47683605447241,
+            -390.8407173015631,
+            -3.578916751823755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -199.47683605447241,
+            -393.8407173015631,
+            -3.578916751823755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -199.47683605447241,
+            -396.8407173015631,
+            -3.578916751823755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -199.47683605447241,
+            -399.8407173015631,
+            -3.578916751823755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -199.47683605447241,
+            -402.8407173015631,
+            -3.578916751823755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -199.47683605447241,
+            -405.8407173015631,
+            -3.578916751823755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -199.47683605447241,
+            -408.8407173015631,
+            -3.578916751823755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -199.47683605447241,
+            -411.8407173015631,
+            -3.578916751823755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -199.47683605447241,
+            -414.8407173015631,
+            -3.578916751823755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -199.47683605447241,
+            -417.8407173015631,
+            -3.578916751823755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -199.47683605447241,
+            -420.8407173015631,
+            -3.578916751823755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -199.47683605447241,
+            -423.8407173015631,
+            -3.578916751823755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -199.47683605447241,
+            -426.8407173015631,
+            -3.578916751823755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -199.47683605447241,
+            -429.8407173015631,
+            -3.578916751823755
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -199.47683605447241,
+            -429.8407173015631,
+            -3.578916751823755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -200.97683605447241,
+            -432.4387935129164,
+            -3.578916751823755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -202.47683605447241,
+            -435.0368697242697,
+            -3.578916751823755
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -204.17917842864992,
+            -437.0482559204102,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-20-20_201305624/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-20-20_201305624/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dd2527bbc5a7919ba5a7ed582dbfe75ffa1a7ee0
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-20-20_201305624/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            372.8074394600486,
+            260.5705565598365,
+            -2.365203154725169
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            369.8074394600486,
+            260.5705565598365,
+            -2.365203154725169
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            366.8074394600486,
+            260.5705565598365,
+            -2.365203154725169
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            363.8074394600486,
+            260.5705565598365,
+            -2.365203154725169
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            360.8074394600486,
+            260.5705565598365,
+            -2.365203154725169
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            357.8074394600486,
+            260.5705565598365,
+            -2.365203154725169
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            354.8074394600486,
+            260.5705565598365,
+            -2.365203154725169
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            351.8074394600486,
+            260.5705565598365,
+            -2.365203154725169
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            348.8074394600486,
+            260.5705565598365,
+            -2.365203154725169
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            345.8074394600486,
+            260.5705565598365,
+            -2.365203154725169
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            342.8074394600486,
+            260.5705565598365,
+            -2.365203154725169
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            339.8074394600486,
+            260.5705565598365,
+            -2.365203154725169
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            336.8074394600486,
+            260.5705565598365,
+            -2.365203154725169
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            333.8074394600486,
+            260.5705565598365,
+            -2.365203154725169
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            333.8074394600486,
+            260.5705565598365,
+            -2.365203154725169
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            331.2093632486953,
+            259.0705565598365,
+            -2.365203154725169
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            328.611287037342,
+            257.5705565598365,
+            -2.365203154725169
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            326.01321082598866,
+            256.0705565598365,
+            -2.365203154725169
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            323.41513461463535,
+            254.57055655983652,
+            -2.365203154725169
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            320.81705840328203,
+            253.07055655983652,
+            -2.365203154725169
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            318.2189821919287,
+            251.57055655983652,
+            -2.365203154725169
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            317.568487739563,
+            250.2678318023682,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-25-15_824272813/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-25-15_824272813/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0c35f0e1a3625ed4cacdeb3fcb593f23e8558241
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-25-15_824272813/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            46.94367836312908,
+            -30.17364802586404,
+            -3.2642502609915827
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            45.44367836312908,
+            -32.771724237217356,
+            -3.2642502609915827
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            43.94367836312908,
+            -35.36980044857067,
+            -3.2642502609915827
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            42.44367836312908,
+            -37.96787665992399,
+            -3.2642502609915827
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            40.94367836312908,
+            -40.565952871277304,
+            -3.2642502609915827
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            39.44367836312908,
+            -43.16402908263062,
+            -3.2642502609915827
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            37.94367836312908,
+            -45.762105293983936,
+            -3.2642502609915827
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            36.44367836312908,
+            -48.36018150533725,
+            -3.2642502609915827
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            34.94367836312908,
+            -50.95825771669057,
+            -3.2642502609915827
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            33.44367836312908,
+            -53.556333928043884,
+            -3.2642502609915827
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            31.94367836312908,
+            -56.1544101393972,
+            -3.2642502609915827
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            30.44367836312908,
+            -58.752486350750516,
+            -3.2642502609915827
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            28.94367836312908,
+            -61.35056256210383,
+            -3.2642502609915827
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            27.44367836312908,
+            -63.94863877345715,
+            -3.2642502609915827
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            25.94367836312908,
+            -66.54671498481046,
+            -3.2642502609915827
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            25.94367836312908,
+            -66.54671498481046,
+            -3.2642502609915827
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            23.345602151775765,
+            -68.04671498481046,
+            -3.2642502609915827
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            20.74752594042245,
+            -69.54671498481046,
+            -3.2642502609915827
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            18.149449729069133,
+            -71.04671498481046,
+            -3.2642502609915827
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            17.12450046539307,
+            -73.06071357727052,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-33-12_1797073940/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-33-12_1797073940/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6a1ddc610cbfb6345a4e05a790c85028431844f4
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-33-12_1797073940/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1027.077161799301,
+            89.31639302972712,
+            -5.938715592282466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1028.577161799301,
+            91.91446924108044,
+            -5.938715592282466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1030.077161799301,
+            94.51254545243376,
+            -5.938715592282466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1031.577161799301,
+            97.11062166378707,
+            -5.938715592282466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1033.077161799301,
+            99.70869787514039,
+            -5.938715592282466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1034.577161799301,
+            102.3067740864937,
+            -5.938715592282466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1036.077161799301,
+            104.90485029784702,
+            -5.938715592282466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1037.577161799301,
+            107.50292650920034,
+            -5.938715592282466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1039.077161799301,
+            110.10100272055365,
+            -5.938715592282466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1040.577161799301,
+            112.69907893190697,
+            -5.938715592282466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1042.077161799301,
+            115.29715514326028,
+            -5.938715592282466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1043.577161799301,
+            117.8952313546136,
+            -5.938715592282466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1045.077161799301,
+            120.49330756596692,
+            -5.938715592282466
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1045.077161799301,
+            120.49330756596692,
+            -5.938715592282466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1045.077161799301,
+            123.49330756596692,
+            -5.938715592282466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1045.077161799301,
+            126.49330756596692,
+            -5.938715592282466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1045.077161799301,
+            129.49330756596692,
+            -5.938715592282466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1045.077161799301,
+            132.49330756596692,
+            -5.938715592282466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1045.077161799301,
+            135.49330756596692,
+            -5.938715592282466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1045.077161799301,
+            138.49330756596692,
+            -5.938715592282466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1045.077161799301,
+            141.49330756596692,
+            -5.938715592282466
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1048.2760719299317,
+            161.26469898223877,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-35-44_780821396/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-35-44_780821396/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ff1fe973b2f941fa1c103aa1c962b364deb1cb2d
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-35-44_780821396/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -224.71261319846846,
+            113.51778777892069,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -226.21261319846846,
+            110.91971156756738,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -227.71261319846846,
+            108.32163535621406,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -229.21261319846846,
+            105.72355914486074,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -230.71261319846846,
+            103.12548293350743,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -232.21261319846846,
+            100.52740672215411,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -233.71261319846846,
+            97.9293305108008,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -235.21261319846846,
+            95.33125429944748,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -236.71261319846846,
+            92.73317808809416,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -238.21261319846846,
+            90.13510187674085,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -239.71261319846846,
+            87.53702566538753,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -241.21261319846846,
+            84.93894945403422,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -242.71261319846846,
+            82.3408732426809,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -244.21261319846846,
+            79.74279703132758,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -245.71261319846846,
+            77.14472081997427,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -247.21261319846846,
+            74.54664460862095,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -248.71261319846846,
+            71.94856839726764,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -250.21261319846846,
+            69.35049218591432,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -251.71261319846846,
+            66.752415974561,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -253.21261319846846,
+            64.15433976320769,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -254.71261319846846,
+            61.55626355185437,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -256.21261319846843,
+            58.958187340501055,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931873
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -257.71261319846843,
+            56.36011112914774,
+            -3.5288380935232
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -257.71261319846843,
+            56.36011112914774,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -257.71261319846843,
+            53.36011112914774,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -257.71261319846843,
+            50.36011112914774,
+            -3.5288380935232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -257.71261319846843,
+            47.36011112914774,
+            -3.5288380935232
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -259.2387418746948,
+            45.236197376251226,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-39-52_524688209/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-39-52_524688209/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7376d7441e936c002d97da1bee48e3c4445c6673
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-39-52_524688209/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -86.98734846154586,
+            -679.030448901891,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -85.48734846154586,
+            -676.4323726905377,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -83.98734846154586,
+            -673.8342964791843,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -82.48734846154586,
+            -671.236220267831,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -80.98734846154586,
+            -668.6381440564776,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -79.48734846154586,
+            -666.0400678451242,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -77.98734846154586,
+            -663.4419916337708,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -76.48734846154586,
+            -660.8439154224175,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -74.98734846154586,
+            -658.2458392110641,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -73.48734846154586,
+            -655.6477629997107,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -71.98734846154586,
+            -653.0496867883573,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -70.48734846154586,
+            -650.451610577004,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -68.98734846154586,
+            -647.8535343656506,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -67.48734846154586,
+            -645.2554581542972,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -65.98734846154586,
+            -642.6573819429439,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -64.48734846154586,
+            -640.0593057315905,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -62.987348461545864,
+            -637.4612295202371,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -61.487348461545864,
+            -634.8631533088837,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -59.987348461545864,
+            -632.2650770975304,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -58.487348461545864,
+            -629.667000886177,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -56.987348461545864,
+            -627.0689246748236,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -55.487348461545864,
+            -624.4708484634702,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -53.987348461545864,
+            -621.8727722521169,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -52.487348461545864,
+            -619.2746960407635,
+            -3.0354482557959077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -50.987348461545864,
+            -616.6766198294101,
+            -3.0354482557959077
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -52.7497802734375,
+            -613.6590488433839,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-40-45_2114937732/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-40-45_2114937732/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d017aee3a02d5943852ca448fd9416dabb06333b
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-40-45_2114937732/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1205.4977343451812,
+            -211.5840405300468,
+            -7.234750391067907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1202.4977343451812,
+            -211.5840405300468,
+            -7.234750391067907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1199.4977343451812,
+            -211.5840405300468,
+            -7.234750391067907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1196.4977343451812,
+            -211.5840405300468,
+            -7.234750391067907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1193.4977343451812,
+            -211.5840405300468,
+            -7.234750391067907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1190.4977343451812,
+            -211.5840405300468,
+            -7.234750391067907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1187.4977343451812,
+            -211.5840405300468,
+            -7.234750391067907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1184.4977343451812,
+            -211.5840405300468,
+            -7.234750391067907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1181.4977343451812,
+            -211.5840405300468,
+            -7.234750391067907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1178.4977343451812,
+            -211.5840405300468,
+            -7.234750391067907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1175.4977343451812,
+            -211.5840405300468,
+            -7.234750391067907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1172.4977343451812,
+            -211.5840405300468,
+            -7.234750391067907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1169.4977343451812,
+            -211.5840405300468,
+            -7.234750391067907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1166.4977343451812,
+            -211.5840405300468,
+            -7.234750391067907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1163.4977343451812,
+            -211.5840405300468,
+            -7.234750391067907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1160.4977343451812,
+            -211.5840405300468,
+            -7.234750391067907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1157.4977343451812,
+            -211.5840405300468,
+            -7.234750391067907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1154.4977343451812,
+            -211.5840405300468,
+            -7.234750391067907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1151.4977343451812,
+            -211.5840405300468,
+            -7.234750391067907
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1136.0676353454592,
+            -208.6565689086914,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-5-20_1789366143/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-5-20_1789366143/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f674ac9293a37beca6a00082e11477597f23ba25
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-5-20_1789366143/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -4.609383303985549,
+            -547.3116895017833,
+            -2.8714069902981603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -3.1093833039855485,
+            -549.9097657131367,
+            -2.8714069902981603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1.609383303985548,
+            -552.5078419244901,
+            -2.8714069902981603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -0.10938330398554763,
+            -555.1059181358435,
+            -2.8714069902981603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1.3906166960144528,
+            -557.7039943471968,
+            -2.8714069902981603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            2.8906166960144533,
+            -560.3020705585502,
+            -2.8714069902981603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            4.390616696014454,
+            -562.9001467699036,
+            -2.8714069902981603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            5.890616696014455,
+            -565.498222981257,
+            -2.8714069902981603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196607
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            7.390616696014455,
+            -568.0962991926103,
+            -2.8714069902981603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            8.890616696014455,
+            -570.6943754039637,
+            -2.8714069902981603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            10.390616696014455,
+            -573.2924516153171,
+            -2.8714069902981603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            11.890616696014455,
+            -575.8905278266704,
+            -2.8714069902981603
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            11.890616696014455,
+            -575.8905278266704,
+            -2.8714069902981603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            14.48869290736777,
+            -577.3905278266704,
+            -2.8714069902981603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            17.086769118721087,
+            -578.8905278266704,
+            -2.8714069902981603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            19.684845330074403,
+            -580.3905278266704,
+            -2.8714069902981603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            22.28292154142772,
+            -581.8905278266704,
+            -2.8714069902981603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            24.880997752781035,
+            -583.3905278266704,
+            -2.8714069902981603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            27.47907396413435,
+            -584.8905278266704,
+            -2.8714069902981603
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            29.783947944641117,
+            -587.6620632171631,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-52-26_624549797/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-52-26_624549797/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..876bcb35fe62b2baa676ebd02adab11a6af7f837
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-52-26_624549797/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            213.4477305674728,
+            -697.4476169950124,
+            -0.20427014428589807
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            214.9477305674728,
+            -694.849540783659,
+            -0.20427014428589807
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            216.4477305674728,
+            -692.2514645723056,
+            -0.20427014428589807
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            217.9477305674728,
+            -689.6533883609522,
+            -0.20427014428589807
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            219.4477305674728,
+            -687.0553121495989,
+            -0.20427014428589807
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            220.9477305674728,
+            -684.4572359382455,
+            -0.20427014428589807
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            222.4477305674728,
+            -681.8591597268921,
+            -0.20427014428589807
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            223.9477305674728,
+            -679.2610835155388,
+            -0.20427014428589807
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            225.4477305674728,
+            -676.6630073041854,
+            -0.20427014428589807
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            226.9477305674728,
+            -674.064931092832,
+            -0.20427014428589807
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            228.4477305674728,
+            -671.4668548814786,
+            -0.20427014428589807
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            229.9477305674728,
+            -668.8687786701253,
+            -0.20427014428589807
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            231.4477305674728,
+            -666.2707024587719,
+            -0.20427014428589807
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            232.9477305674728,
+            -663.6726262474185,
+            -0.20427014428589807
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            234.4477305674728,
+            -661.0745500360651,
+            -0.20427014428589807
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            235.9477305674728,
+            -658.4764738247118,
+            -0.20427014428589807
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            235.9477305674728,
+            -658.4764738247118,
+            -0.20427014428589807
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            235.9477305674728,
+            -655.4764738247118,
+            -0.20427014428589807
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            235.9477305674728,
+            -652.4764738247118,
+            -0.20427014428589807
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            235.9477305674728,
+            -649.4764738247118,
+            -0.20427014428589807
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            235.9477305674728,
+            -646.4764738247118,
+            -0.20427014428589807
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            235.9477305674728,
+            -643.4764738247118,
+            -0.20427014428589807
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            235.9477305674728,
+            -640.4764738247118,
+            -0.20427014428589807
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            237.59388580322266,
+            -636.861552810669,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-19-17_1051858969/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-19-17_1051858969/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9a588da0949d010db75593da7df682281d7cb122
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-19-17_1051858969/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            233.68744121696983,
+            266.7796922353069,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            233.68744121696983,
+            263.7796922353069,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            233.68744121696983,
+            260.7796922353069,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            233.68744121696983,
+            257.7796922353069,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            233.68744121696983,
+            254.77969223530692,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            233.68744121696983,
+            251.77969223530692,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            233.68744121696983,
+            248.77969223530692,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            233.68744121696983,
+            245.77969223530692,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            233.68744121696983,
+            242.77969223530692,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            233.68744121696983,
+            239.77969223530692,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            233.68744121696983,
+            236.77969223530692,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            233.68744121696983,
+            233.77969223530692,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            233.68744121696983,
+            230.77969223530692,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            233.68744121696983,
+            227.77969223530692,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            233.68744121696983,
+            224.77969223530692,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            233.68744121696983,
+            221.77969223530692,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            233.68744121696983,
+            218.77969223530692,
+            -4.528530200718333
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            233.68744121696983,
+            218.77969223530692,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            235.18744121696983,
+            216.1816160239536,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            236.68744121696983,
+            213.5835398126003,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            238.18744121696983,
+            210.98546360124698,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            239.68744121696983,
+            208.38738738989366,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            241.18744121696983,
+            205.78931117854034,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            242.68744121696983,
+            203.19123496718703,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            244.18744121696983,
+            200.5931587558337,
+            -4.528530200718333
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            244.18744121696983,
+            200.5931587558337,
+            -4.528530200718333
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            244.18744121696983,
+            197.5931587558337,
+            -4.528530200718333
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            243.237640953064,
+            194.2933292388916,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-19-31_1095966189/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-19-31_1095966189/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..74017046c9c83de8359c24bcb87e39d7e7c4d412
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-19-31_1095966189/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            15.236107176898926,
+            -638.1811959928508,
+            -6.790691742728657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            16.736107176898926,
+            -635.5831197814975,
+            -6.790691742728657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            18.236107176898926,
+            -632.9850435701442,
+            -6.790691742728657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            19.736107176898926,
+            -630.3869673587908,
+            -6.790691742728657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            21.236107176898926,
+            -627.7888911474374,
+            -6.790691742728657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            22.736107176898926,
+            -625.190814936084,
+            -6.790691742728657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            24.236107176898926,
+            -622.5927387247307,
+            -6.790691742728657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            25.736107176898926,
+            -619.9946625133773,
+            -6.790691742728657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            27.236107176898926,
+            -617.3965863020239,
+            -6.790691742728657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            28.736107176898926,
+            -614.7985100906706,
+            -6.790691742728657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            30.236107176898926,
+            -612.2004338793172,
+            -6.790691742728657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            30.236107176898926,
+            -612.2004338793172,
+            -6.790691742728657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            30.236107176898926,
+            -609.2004338793172,
+            -6.790691742728657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            30.236107176898926,
+            -606.2004338793172,
+            -6.790691742728657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            30.236107176898926,
+            -603.2004338793172,
+            -6.790691742728657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            30.236107176898926,
+            -600.2004338793172,
+            -6.790691742728657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            30.236107176898926,
+            -597.2004338793172,
+            -6.790691742728657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            30.236107176898926,
+            -594.2004338793172,
+            -6.790691742728657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            30.236107176898926,
+            -591.2004338793172,
+            -6.790691742728657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            29.783947944641117,
+            -587.6620632171631,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-21-10_530498338/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-21-10_530498338/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9b2100cefa76e6c1ee73fd6be35094e66d883bf7
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-21-10_530498338/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            184.6175949712329,
+            -196.5952779621156,
+            -3.0295059485625986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            187.6175949712329,
+            -196.5952779621156,
+            -3.0295059485625986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            190.6175949712329,
+            -196.5952779621156,
+            -3.0295059485625986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            193.6175949712329,
+            -196.5952779621156,
+            -3.0295059485625986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            196.6175949712329,
+            -196.5952779621156,
+            -3.0295059485625986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            199.6175949712329,
+            -196.5952779621156,
+            -3.0295059485625986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            202.6175949712329,
+            -196.5952779621156,
+            -3.0295059485625986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            205.6175949712329,
+            -196.5952779621156,
+            -3.0295059485625986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            208.6175949712329,
+            -196.5952779621156,
+            -3.0295059485625986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            211.6175949712329,
+            -196.5952779621156,
+            -3.0295059485625986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            214.6175949712329,
+            -196.5952779621156,
+            -3.0295059485625986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            217.6175949712329,
+            -196.5952779621156,
+            -3.0295059485625986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            220.6175949712329,
+            -196.5952779621156,
+            -3.0295059485625986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            223.6175949712329,
+            -196.5952779621156,
+            -3.0295059485625986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            226.6175949712329,
+            -196.5952779621156,
+            -3.0295059485625986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            229.6175949712329,
+            -196.5952779621156,
+            -3.0295059485625986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            232.6175949712329,
+            -196.5952779621156,
+            -3.0295059485625986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            235.6175949712329,
+            -196.5952779621156,
+            -3.0295059485625986
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            235.6175949712329,
+            -196.5952779621156,
+            -3.0295059485625986
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            235.6175949712329,
+            -196.5952779621156,
+            -3.0295059485625986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            237.1175949712329,
+            -199.19335417346892,
+            -3.0295059485625986
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            238.6175949712329,
+            -201.79143038482223,
+            -3.0295059485625986
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            241.1424083709717,
+            -202.41772613525393,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-24-14_471990783/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-24-14_471990783/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8d39ff683e2b035a8f9f50955047ed552ff21b20
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-24-14_471990783/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1298.3235907796409,
+            251.54003711237348,
+            -0.7420402030089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1299.8235907796409,
+            248.94196090102017,
+            -0.7420402030089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1301.3235907796409,
+            246.34388468966685,
+            -0.7420402030089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1302.8235907796409,
+            243.74580847831353,
+            -0.7420402030089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1304.3235907796409,
+            241.14773226696022,
+            -0.7420402030089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1305.8235907796409,
+            238.5496560556069,
+            -0.7420402030089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1307.3235907796409,
+            235.9515798442536,
+            -0.7420402030089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1308.8235907796409,
+            233.35350363290027,
+            -0.7420402030089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1310.3235907796409,
+            230.75542742154695,
+            -0.7420402030089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1311.8235907796409,
+            228.15735121019364,
+            -0.7420402030089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1313.3235907796409,
+            225.55927499884032,
+            -0.7420402030089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1314.8235907796409,
+            222.961198787487,
+            -0.7420402030089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1316.3235907796409,
+            220.3631225761337,
+            -0.7420402030089566
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1316.3235907796409,
+            220.3631225761337,
+            -0.7420402030089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1316.3235907796409,
+            217.3631225761337,
+            -0.7420402030089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1316.3235907796409,
+            214.3631225761337,
+            -0.7420402030089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1316.3235907796409,
+            211.3631225761337,
+            -0.7420402030089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1316.3235907796409,
+            208.3631225761337,
+            -0.7420402030089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1316.3235907796409,
+            205.3631225761337,
+            -0.7420402030089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1316.3235907796409,
+            202.3631225761337,
+            -0.7420402030089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1316.3235907796409,
+            199.3631225761337,
+            -0.7420402030089566
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1318.4154022216799,
+            197.2680404663086,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-26-38_1152645729/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-26-38_1152645729/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eae97634ad5e4d695a7e426685c1e290c08d086f
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-26-38_1152645729/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1258.0153680638698,
+            224.02561213584943,
+            -7.060603580575341
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1259.5153680638698,
+            221.4275359244961,
+            -7.060603580575341
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1261.0153680638698,
+            218.8294597131428,
+            -7.060603580575341
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1262.5153680638698,
+            216.23138350178948,
+            -7.060603580575341
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1264.0153680638698,
+            213.63330729043616,
+            -7.060603580575341
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1265.5153680638698,
+            211.03523107908285,
+            -7.060603580575341
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1267.0153680638698,
+            208.43715486772953,
+            -7.060603580575341
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1268.5153680638698,
+            205.83907865637622,
+            -7.060603580575341
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1270.0153680638698,
+            203.2410024450229,
+            -7.060603580575341
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1270.0153680638698,
+            203.2410024450229,
+            -7.060603580575341
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1270.0153680638698,
+            200.2410024450229,
+            -7.060603580575341
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1270.0153680638698,
+            197.2410024450229,
+            -7.060603580575341
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1270.0153680638698,
+            194.2410024450229,
+            -7.060603580575341
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1270.0153680638698,
+            191.2410024450229,
+            -7.060603580575341
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1270.0153680638698,
+            188.2410024450229,
+            -7.060603580575341
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1270.0153680638698,
+            185.2410024450229,
+            -7.060603580575341
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1270.0153680638698,
+            182.2410024450229,
+            -7.060603580575341
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1270.0153680638698,
+            179.2410024450229,
+            -7.060603580575341
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1270.0153680638698,
+            176.2410024450229,
+            -7.060603580575341
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1269.6296508789064,
+            175.0053077697754,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-27-26_1001089438/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-27-26_1001089438/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..52790b8f951c7992bcde3edaca174ae0a158c557
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-27-26_1001089438/pose.jsonl
@@ -0,0 +1,248 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -323.4672518851416,
+            -216.60306104689448,
+            -5.074296577010228
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -320.8691756737883,
+            -215.10306104689448,
+            -5.074296577010228
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -318.27109946243496,
+            -213.60306104689448,
+            -5.074296577010228
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -315.67302325108164,
+            -212.10306104689448,
+            -5.074296577010228
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -313.07494703972833,
+            -210.60306104689448,
+            -5.074296577010228
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -310.476870828375,
+            -209.10306104689448,
+            -5.074296577010228
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -307.8787946170217,
+            -207.60306104689448,
+            -5.074296577010228
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -305.2807184056684,
+            -206.10306104689448,
+            -5.074296577010228
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -302.68264219431506,
+            -204.60306104689448,
+            -5.074296577010228
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -300.08456598296175,
+            -203.10306104689448,
+            -5.074296577010228
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -297.48648977160843,
+            -201.60306104689448,
+            -5.074296577010228
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -294.8884135602551,
+            -200.10306104689448,
+            -5.074296577010228
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -292.2903373489018,
+            -198.60306104689448,
+            -5.074296577010228
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -289.6922611375485,
+            -197.10306104689448,
+            -5.074296577010228
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -287.09418492619517,
+            -195.60306104689448,
+            -5.074296577010228
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -284.49610871484185,
+            -194.10306104689448,
+            -5.074296577010228
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -281.89803250348854,
+            -192.60306104689448,
+            -5.074296577010228
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -279.2999562921352,
+            -191.10306104689448,
+            -5.074296577010228
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -277.72470836639405,
+            -188.3509792327881,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-27-44_2077211388/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-27-44_2077211388/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b6c7f28c5c347d375ff2699ef0739172043a981
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-27-44_2077211388/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            61.36751315404941,
+            -489.63479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            58.769436942696096,
+            -488.13479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            56.17136073134278,
+            -486.63479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            53.573284519989464,
+            -485.13479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            50.97520830863615,
+            -483.63479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            48.37713209728283,
+            -482.13479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            45.779055885929516,
+            -480.63479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            43.1809796745762,
+            -479.13479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            40.582903463222884,
+            -477.63479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            37.98482725186957,
+            -476.13479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            35.38675104051625,
+            -474.63479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            32.788674829162936,
+            -473.13479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            30.19059861780962,
+            -471.63479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            27.592522406456304,
+            -470.13479535805544,
+            -3.0161856068445134
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            27.592522406456304,
+            -470.13479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            24.592522406456304,
+            -470.13479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            21.592522406456304,
+            -470.13479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            18.592522406456304,
+            -470.13479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            15.592522406456304,
+            -470.13479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            12.592522406456304,
+            -470.13479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            9.592522406456304,
+            -470.13479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            6.592522406456304,
+            -470.13479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            3.592522406456304,
+            -470.13479535805544,
+            -3.0161856068445134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            0.5925224064563039,
+            -470.13479535805544,
+            -3.0161856068445134
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -3.1689678192138673,
+            -469.5184967041016,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-29-45_864101839/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-29-45_864101839/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c20f0c33aadfaf25cdfd59d2d1c782ffdfdf7b19
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-29-45_864101839/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1630.2557508280713,
+            -79.4106644373657,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1628.7557508280713,
+            -82.00874064871901,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1627.2557508280713,
+            -84.60681686007233,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1625.7557508280713,
+            -87.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1625.7557508280713,
+            -87.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1623.157674616718,
+            -88.70489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1620.5595984053646,
+            -90.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1617.9615221940112,
+            -91.70489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1615.3634459826578,
+            -93.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1615.3634459826578,
+            -93.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1612.3634459826578,
+            -93.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1609.3634459826578,
+            -93.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1606.3634459826578,
+            -93.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1603.3634459826578,
+            -93.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1600.3634459826578,
+            -93.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1597.3634459826578,
+            -93.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1594.3634459826578,
+            -93.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1591.3634459826578,
+            -93.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1588.3634459826578,
+            -93.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1585.3634459826578,
+            -93.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1582.3634459826578,
+            -93.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1579.3634459826578,
+            -93.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1576.3634459826578,
+            -93.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1573.3634459826578,
+            -93.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1570.3634459826578,
+            -93.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1567.3634459826578,
+            -93.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1564.3634459826578,
+            -93.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1561.3634459826578,
+            -93.20489307142564,
+            -1.7578534436305375
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1559.5110931396484,
+            -96.07600393295289,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-3-19_1543755629/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-3-19_1543755629/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9d1d808b86afb97d30cb52094aa4cd7a19418c4b
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-3-19_1543755629/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            406.28773184067353,
+            -343.089128669539,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            406.28773184067353,
+            -346.089128669539,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            406.28773184067353,
+            -349.089128669539,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            406.28773184067353,
+            -352.089128669539,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            406.28773184067353,
+            -355.089128669539,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            406.28773184067353,
+            -358.089128669539,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            406.28773184067353,
+            -361.089128669539,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            406.28773184067353,
+            -364.089128669539,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            406.28773184067353,
+            -367.089128669539,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            406.28773184067353,
+            -370.089128669539,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            406.28773184067353,
+            -373.089128669539,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            406.28773184067353,
+            -376.089128669539,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            406.28773184067353,
+            -379.089128669539,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            406.28773184067353,
+            -382.089128669539,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            406.28773184067353,
+            -385.089128669539,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            406.28773184067353,
+            -388.089128669539,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            406.28773184067353,
+            -391.089128669539,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            406.28773184067353,
+            -394.089128669539,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            406.28773184067353,
+            -397.089128669539,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            406.28773184067353,
+            -400.089128669539,
+            -1.4989007211545466
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            406.28773184067353,
+            -400.089128669539,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            407.78773184067353,
+            -402.6872048808923,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            409.28773184067353,
+            -405.2852810922456,
+            -1.4989007211545466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            410.78773184067353,
+            -407.8833573035989,
+            -1.4989007211545466
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            410.6194187164307,
+            -422.415909576416,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-33-5_1388391521/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-33-5_1388391521/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8cc6bea5c8991c0bc29ee48457dd87ef808260cf
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-33-5_1388391521/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1326.8841865946517,
+            -153.35863482470623,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1329.8841865946517,
+            -153.35863482470623,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1332.8841865946517,
+            -153.35863482470623,
+            -8.296404877907554
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1332.8841865946517,
+            -153.35863482470623,
+            -8.296404877907554
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1332.8841865946517,
+            -153.35863482470623,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1334.3841865946517,
+            -155.95671103605954,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1335.8841865946517,
+            -158.55478724741286,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1337.3841865946517,
+            -161.15286345876618,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1338.8841865946517,
+            -163.7509396701195,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1340.3841865946517,
+            -166.3490158814728,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1341.8841865946517,
+            -168.94709209282613,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1343.3841865946517,
+            -171.54516830417944,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1344.8841865946517,
+            -174.14324451553276,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1346.3841865946517,
+            -176.74132072688607,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1347.8841865946517,
+            -179.3393969382394,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1349.3841865946517,
+            -181.9374731495927,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1350.8841865946517,
+            -184.53554936094602,
+            -8.296404877907554
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1350.8841865946517,
+            -184.53554936094602,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1353.482262806005,
+            -186.03554936094602,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1356.0803390173585,
+            -187.53554936094602,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1358.6784152287119,
+            -189.03554936094602,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1361.2764914400652,
+            -190.53554936094602,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1363.8745676514186,
+            -192.03554936094602,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1366.472643862772,
+            -193.53554936094602,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1369.0707200741253,
+            -195.03554936094602,
+            -8.296404877907554
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1371.6687962854787,
+            -196.53554936094602,
+            -8.296404877907554
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1374.3149368286133,
+            -198.07321910858155,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-34-15_1204462951/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-34-15_1204462951/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e4afeda381087456d24e4f430ee8f514ebbd5ee
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-34-15_1204462951/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1304.631486263442,
+            -157.40772585629037,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1306.131486263442,
+            -160.00580206764369,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1307.631486263442,
+            -162.603878278997,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1309.131486263442,
+            -165.20195449035032,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1310.631486263442,
+            -167.80003070170363,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1312.131486263442,
+            -170.39810691305695,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1313.631486263442,
+            -172.99618312441027,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1315.131486263442,
+            -175.59425933576358,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1316.631486263442,
+            -178.1923355471169,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1318.131486263442,
+            -180.7904117584702,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1319.631486263442,
+            -183.38848796982353,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1321.131486263442,
+            -185.98656418117685,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1322.631486263442,
+            -188.58464039253016,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1324.131486263442,
+            -191.18271660388348,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1325.631486263442,
+            -193.7807928152368,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1327.131486263442,
+            -196.3788690265901,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1328.631486263442,
+            -198.97694523794343,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1330.131486263442,
+            -201.57502144929674,
+            -3.3340375339986386
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1330.131486263442,
+            -201.57502144929674,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1330.131486263442,
+            -204.57502144929674,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1330.131486263442,
+            -207.57502144929674,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1330.131486263442,
+            -210.57502144929674,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1330.131486263442,
+            -213.57502144929674,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1330.131486263442,
+            -216.57502144929674,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1330.131486263442,
+            -219.57502144929674,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1330.131486263442,
+            -222.57502144929674,
+            -3.3340375339986386
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1330.131486263442,
+            -225.57502144929674,
+            -3.3340375339986386
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1332.318264770508,
+            -228.70366058349612,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-40-26_395279207/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-40-26_395279207/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e2fd48e80d114fbb985cfdd7245f0b39b8570143
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-40-26_395279207/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1398.7652653588127,
+            -28.912011434966935,
+            -2.709060905693084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1401.363341570166,
+            -27.412011434966935,
+            -2.709060905693084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1403.9614177815195,
+            -25.912011434966935,
+            -2.709060905693084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1406.5594939928728,
+            -24.412011434966935,
+            -2.709060905693084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1409.1575702042262,
+            -22.912011434966935,
+            -2.709060905693084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1411.7556464155796,
+            -21.412011434966935,
+            -2.709060905693084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1414.353722626933,
+            -19.912011434966935,
+            -2.709060905693084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1416.9517988382863,
+            -18.412011434966935,
+            -2.709060905693084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1419.5498750496397,
+            -16.912011434966935,
+            -2.709060905693084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1422.147951260993,
+            -15.412011434966935,
+            -2.709060905693084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1424.7460274723464,
+            -13.912011434966935,
+            -2.709060905693084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1427.3441036836998,
+            -12.412011434966935,
+            -2.709060905693084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1429.9421798950532,
+            -10.912011434966935,
+            -2.709060905693084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1432.5402561064066,
+            -9.412011434966935,
+            -2.709060905693084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1435.13833231776,
+            -7.912011434966935,
+            -2.709060905693084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1437.7364085291133,
+            -6.412011434966935,
+            -2.709060905693084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1440.3344847404667,
+            -4.912011434966935,
+            -2.709060905693084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1442.93256095182,
+            -3.412011434966935,
+            -2.709060905693084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1445.5306371631734,
+            -1.9120114349669353,
+            -2.709060905693084
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1448.3586029052735,
+            -0.4004184722900391,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-48-1_1124311574/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-48-1_1124311574/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..880a78e4ad4507d2aa72c2149fdf55124b388827
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-48-1_1124311574/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -58.700651905542216,
+            -311.9510875004421,
+            -8.543994748405538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -57.200651905542216,
+            -314.5491637117954,
+            -8.543994748405538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -55.700651905542216,
+            -317.14723992314873,
+            -8.543994748405538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -54.200651905542216,
+            -319.74531613450205,
+            -8.543994748405538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -52.700651905542216,
+            -322.34339234585536,
+            -8.543994748405538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -51.200651905542216,
+            -324.9414685572087,
+            -8.543994748405538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -49.700651905542216,
+            -327.539544768562,
+            -8.543994748405538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -48.200651905542216,
+            -330.1376209799153,
+            -8.543994748405538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -46.700651905542216,
+            -332.7356971912686,
+            -8.543994748405538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -45.200651905542216,
+            -335.33377340262194,
+            -8.543994748405538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -43.700651905542216,
+            -337.93184961397526,
+            -8.543994748405538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -42.200651905542216,
+            -340.5299258253286,
+            -8.543994748405538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -40.700651905542216,
+            -343.1280020366819,
+            -8.543994748405538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -39.200651905542216,
+            -345.7260782480352,
+            -8.543994748405538
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -39.200651905542216,
+            -345.7260782480352,
+            -8.543994748405538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -39.200651905542216,
+            -348.7260782480352,
+            -8.543994748405538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -39.200651905542216,
+            -351.7260782480352,
+            -8.543994748405538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -39.200651905542216,
+            -354.7260782480352,
+            -8.543994748405538
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -39.200651905542216,
+            -357.7260782480352,
+            -8.543994748405538
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -37.04707775115967,
+            -360.1783214569092,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-51-35_639806732/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-51-35_639806732/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f78fe046b3baa9e2f4d1401516d62ca75f062b8f
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-51-35_639806732/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1321.6774042176592,
+            187.47113281514595,
+            -2.3141159208888773
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1318.6774042176592,
+            187.47113281514595,
+            -2.3141159208888773
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1315.6774042176592,
+            187.47113281514595,
+            -2.3141159208888773
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1312.6774042176592,
+            187.47113281514595,
+            -2.3141159208888773
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1309.6774042176592,
+            187.47113281514595,
+            -2.3141159208888773
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1306.6774042176592,
+            187.47113281514595,
+            -2.3141159208888773
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1303.6774042176592,
+            187.47113281514595,
+            -2.3141159208888773
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1300.6774042176592,
+            187.47113281514595,
+            -2.3141159208888773
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1297.6774042176592,
+            187.47113281514595,
+            -2.3141159208888773
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1294.6774042176592,
+            187.47113281514595,
+            -2.3141159208888773
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1291.6774042176592,
+            187.47113281514595,
+            -2.3141159208888773
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1288.6774042176592,
+            187.47113281514595,
+            -2.3141159208888773
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1288.6774042176592,
+            187.47113281514595,
+            -2.3141159208888773
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1286.0793280063058,
+            185.97113281514595,
+            -2.3141159208888773
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1283.4812517949524,
+            184.47113281514595,
+            -2.3141159208888773
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1280.883175583599,
+            182.97113281514595,
+            -2.3141159208888773
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1278.2850993722457,
+            181.47113281514595,
+            -2.3141159208888773
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1275.6870231608923,
+            179.97113281514595,
+            -2.3141159208888773
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1273.088946949539,
+            178.47113281514595,
+            -2.3141159208888773
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1270.4908707381855,
+            176.97113281514595,
+            -2.3141159208888773
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1269.6296508789064,
+            175.0053077697754,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-1-27_34740865/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-1-27_34740865/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2288704bc0ce2a7044d792dca02500e016bebcc3
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-1-27_34740865/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1279.846012752348,
+            247.4040266510053,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1279.846012752348,
+            244.4040266510053,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1279.846012752348,
+            241.4040266510053,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1279.846012752348,
+            238.4040266510053,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1279.846012752348,
+            235.4040266510053,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1279.846012752348,
+            232.4040266510053,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1279.846012752348,
+            229.4040266510053,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1279.846012752348,
+            226.4040266510053,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1279.846012752348,
+            223.4040266510053,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1279.846012752348,
+            220.4040266510053,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1279.846012752348,
+            217.4040266510053,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1279.846012752348,
+            214.4040266510053,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1279.846012752348,
+            211.4040266510053,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1279.846012752348,
+            208.4040266510053,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1279.846012752348,
+            205.4040266510053,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1279.846012752348,
+            202.4040266510053,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1279.846012752348,
+            199.4040266510053,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1279.846012752348,
+            196.4040266510053,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1279.846012752348,
+            193.4040266510053,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1279.846012752348,
+            190.4040266510053,
+            -3.21996154549292
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1279.846012752348,
+            190.4040266510053,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1278.346012752348,
+            187.80595043965198,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1276.846012752348,
+            185.20787422829866,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1275.346012752348,
+            182.60979801694535,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1273.846012752348,
+            180.01172180559203,
+            -3.21996154549292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1272.346012752348,
+            177.41364559423872,
+            -3.21996154549292
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1269.6296508789064,
+            175.0053077697754,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-10-7_356684278/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-10-7_356684278/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..000053014ca10eba5e012170257c1908392e5940
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-10-7_356684278/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            812.9789861132672,
+            -501.38912242125207,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            811.4789861132672,
+            -498.79104620989875,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            809.9789861132672,
+            -496.19296999854544,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            808.4789861132672,
+            -493.5948937871921,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            806.9789861132672,
+            -490.9968175758388,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            805.4789861132672,
+            -488.3987413644855,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            803.9789861132672,
+            -485.8006651531322,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            802.4789861132672,
+            -483.20258894177886,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            800.9789861132672,
+            -480.60451273042554,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            799.4789861132672,
+            -478.0064365190722,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            797.9789861132672,
+            -475.4083603077189,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            796.4789861132672,
+            -472.8102840963656,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            794.9789861132672,
+            -470.2122078850123,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            793.4789861132672,
+            -467.61413167365896,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            791.9789861132672,
+            -465.01605546230564,
+            -6.8925096611441194
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            791.9789861132672,
+            -465.01605546230564,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            789.3809099019138,
+            -463.51605546230564,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            786.7828336905604,
+            -462.01605546230564,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            784.1847574792071,
+            -460.51605546230564,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            781.5866812678537,
+            -459.01605546230564,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            778.9886050565003,
+            -457.51605546230564,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            776.390528845147,
+            -456.01605546230564,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            773.7924526337936,
+            -454.51605546230564,
+            -6.8925096611441194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            771.1943764224402,
+            -453.01605546230564,
+            -6.8925096611441194
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            770.3367736816407,
+            -451.65129089355474,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-12-34_217927335/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-12-34_217927335/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e382fff6f9115bd4ced06ea3fbf9f99e816782ab
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-12-34_217927335/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            254.17221287117232,
+            219.54706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            257.1722128711723,
+            219.54706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            260.1722128711723,
+            219.54706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            263.1722128711723,
+            219.54706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            266.1722128711723,
+            219.54706586862085,
+            -3.646698507018181
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            266.1722128711723,
+            219.54706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            268.7702890825256,
+            221.04706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            271.3683652938789,
+            222.54706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            273.96644150523224,
+            224.04706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            276.56451771658556,
+            225.54706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            279.1625939279389,
+            227.04706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            281.7606701392922,
+            228.54706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            284.3587463506455,
+            230.04706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            286.9568225619988,
+            231.54706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            289.55489877335214,
+            233.04706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            292.15297498470545,
+            234.54706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            294.75105119605877,
+            236.04706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            297.3491274074121,
+            237.54706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            299.9472036187654,
+            239.04706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            302.5452798301187,
+            240.54706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            305.14335604147203,
+            242.04706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            307.74143225282535,
+            243.54706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            310.33950846417866,
+            245.04706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            312.937584675532,
+            246.54706586862085,
+            -3.646698507018181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            315.5356608868853,
+            248.04706586862085,
+            -3.646698507018181
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            317.568487739563,
+            250.2678318023682,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-19-32_1105816539/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-19-32_1105816539/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2ed80260cd9c0c36a4ecfc7821d7e0732699f622
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-19-32_1105816539/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            475.748389031444,
+            -638.662439877557,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            474.248389031444,
+            -636.0643636662037,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            472.748389031444,
+            -633.4662874548503,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            471.248389031444,
+            -630.868211243497,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            469.748389031444,
+            -628.2701350321436,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            468.248389031444,
+            -625.6720588207902,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            466.748389031444,
+            -623.0739826094368,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            465.248389031444,
+            -620.4759063980835,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            463.748389031444,
+            -617.8778301867301,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            462.248389031444,
+            -615.2797539753767,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            460.748389031444,
+            -612.6816777640233,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            459.248389031444,
+            -610.08360155267,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            457.748389031444,
+            -607.4855253413166,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            456.248389031444,
+            -604.8874491299632,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            454.748389031444,
+            -602.2893729186098,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            453.248389031444,
+            -599.6912967072565,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            451.748389031444,
+            -597.0932204959031,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            450.248389031444,
+            -594.4951442845497,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            448.748389031444,
+            -591.8970680731964,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            447.248389031444,
+            -589.298991861843,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            445.748389031444,
+            -586.7009156504896,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            444.248389031444,
+            -584.1028394391362,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            442.748389031444,
+            -581.5047632277829,
+            -7.00671864539095
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            441.248389031444,
+            -578.9066870164295,
+            -7.00671864539095
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            437.9839408874512,
+            -578.2894577026368,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-27-58_2006138722/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-27-58_2006138722/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..67f227612d6f5fb1013bb9b6ed24e34459138915
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-27-58_2006138722/pose.jsonl
@@ -0,0 +1,391 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            210.49960109989945,
+            -562.0253907917023,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            211.99960109989945,
+            -564.6234670030556,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            213.49960109989945,
+            -567.2215432144089,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            214.99960109989945,
+            -569.8196194257623,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            216.49960109989945,
+            -572.4176956371157,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            217.99960109989945,
+            -575.0157718484691,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            219.49960109989945,
+            -577.6138480598224,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            220.99960109989945,
+            -580.2119242711758,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            222.49960109989945,
+            -582.8100004825292,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            223.99960109989945,
+            -585.4080766938825,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            225.49960109989945,
+            -588.0061529052359,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            226.99960109989945,
+            -590.6042291165893,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            228.49960109989945,
+            -593.2023053279427,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            229.99960109989945,
+            -595.800381539296,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            231.49960109989945,
+            -598.3984577506494,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            232.99960109989945,
+            -600.9965339620028,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            234.49960109989945,
+            -603.5946101733562,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            235.99960109989945,
+            -606.1926863847095,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            237.49960109989945,
+            -608.7907625960629,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            238.99960109989945,
+            -611.3888388074163,
+            -6.920435507873029
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            238.99960109989945,
+            -611.3888388074163,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            238.99960109989945,
+            -614.3888388074163,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            238.99960109989945,
+            -617.3888388074163,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            238.99960109989945,
+            -620.3888388074163,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            238.99960109989945,
+            -623.3888388074163,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            238.99960109989945,
+            -626.3888388074163,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            238.99960109989945,
+            -629.3888388074163,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            238.99960109989945,
+            -632.3888388074163,
+            -6.920435507873029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            238.99960109989945,
+            -635.3888388074163,
+            -6.920435507873029
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            237.59388580322266,
+            -636.861552810669,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-31-48_1579068977/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-31-48_1579068977/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4d440d6d73f7a3100c457d76023a4e7e15a5e76e
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-31-48_1579068977/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            231.42774556797968,
+            -275.4282202103449,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            231.42774556797968,
+            -272.4282202103449,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            231.42774556797968,
+            -269.4282202103449,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            231.42774556797968,
+            -266.4282202103449,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            231.42774556797968,
+            -263.4282202103449,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            231.42774556797968,
+            -260.4282202103449,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            231.42774556797968,
+            -257.4282202103449,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            231.42774556797968,
+            -254.42822021034488,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            231.42774556797968,
+            -251.42822021034488,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            231.42774556797968,
+            -248.42822021034488,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            231.42774556797968,
+            -245.42822021034488,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            231.42774556797968,
+            -242.42822021034488,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            231.42774556797968,
+            -239.42822021034488,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            231.42774556797968,
+            -236.42822021034488,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            231.42774556797968,
+            -233.42822021034488,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            231.42774556797968,
+            -230.42822021034488,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            231.42774556797968,
+            -227.42822021034488,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            231.42774556797968,
+            -224.42822021034488,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            231.42774556797968,
+            -221.42822021034488,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            231.42774556797968,
+            -218.42822021034488,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            231.42774556797968,
+            -215.42822021034488,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            231.42774556797968,
+            -212.42822021034488,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            231.42774556797968,
+            -209.42822021034488,
+            -1.6409289060338956
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            231.42774556797968,
+            -209.42822021034488,
+            -1.6409289060338956
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            231.42774556797968,
+            -209.42822021034488,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            234.025821779333,
+            -207.92822021034488,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            236.62389799068632,
+            -206.42822021034488,
+            -1.6409289060338956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            239.22197420203963,
+            -204.92822021034488,
+            -1.6409289060338956
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            241.1424083709717,
+            -202.41772613525393,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-6-10_10901063/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-6-10_10901063/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..71a4e2d0c12093843190181ac9dea88afe390fed
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-6-10_10901063/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -269.02431467211386,
+            -442.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -266.02431467211386,
+            -442.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -263.02431467211386,
+            -442.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -260.02431467211386,
+            -442.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -257.02431467211386,
+            -442.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -254.02431467211386,
+            -442.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -251.02431467211386,
+            -442.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -248.02431467211386,
+            -442.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -245.02431467211386,
+            -442.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -242.02431467211386,
+            -442.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -239.02431467211386,
+            -442.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -236.02431467211386,
+            -442.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -233.02431467211386,
+            -442.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -230.02431467211386,
+            -442.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -227.02431467211386,
+            -442.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -224.02431467211386,
+            -442.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -221.02431467211386,
+            -442.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -218.02431467211386,
+            -442.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -215.02431467211386,
+            -442.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -212.02431467211386,
+            -442.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -212.02431467211386,
+            -442.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -209.42623846076054,
+            -440.9130915589618,
+            -1.9926132323883845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -206.82816224940723,
+            -439.4130915589618,
+            -1.9926132323883845
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -204.17917842864992,
+            -437.0482559204102,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-0-57_234576987/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-0-57_234576987/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dc2d0b094fc3181aa60c2b5de5eda0bd2155c24e
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-0-57_234576987/pose.jsonl
@@ -0,0 +1,118 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1517.2350262210216,
+            -161.53258939321077,
+            -3.7044673626880034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1517.2350262210216,
+            -158.53258939321077,
+            -3.7044673626880034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1517.2350262210216,
+            -155.53258939321077,
+            -3.7044673626880034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1517.2350262210216,
+            -152.53258939321077,
+            -3.7044673626880034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1517.2350262210216,
+            -149.53258939321077,
+            -3.7044673626880034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1517.2350262210216,
+            -146.53258939321077,
+            -3.7044673626880034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1517.2350262210216,
+            -143.53258939321077,
+            -3.7044673626880034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1517.2350262210216,
+            -140.53258939321077,
+            -3.7044673626880034
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1517.6720581054688,
+            -108.54975051879883,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-12-11_78374295/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-12-11_78374295/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c92b2c6163b64e7a7c499b81537730733f3155af
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-12-11_78374295/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1543.004452432604,
+            -12.338500455142317,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1540.4063762212506,
+            -10.838500455142317,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1537.8083000098973,
+            -9.338500455142317,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1535.210223798544,
+            -7.8385004551423165,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1532.6121475871905,
+            -6.3385004551423165,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1530.0140713758371,
+            -4.8385004551423165,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1527.4159951644838,
+            -3.3385004551423165,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1524.8179189531304,
+            -1.8385004551423167,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1522.219842741777,
+            -0.33850045514231697,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1519.6217665304237,
+            1.1614995448576828,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1517.0236903190703,
+            2.6614995448576826,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1514.425614107717,
+            4.161499544857683,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1511.8275378963635,
+            5.661499544857683,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1509.2294616850102,
+            7.161499544857683,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1506.6313854736568,
+            8.661499544857682,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991504
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1504.0333092623034,
+            10.161499544857682,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1501.43523305095,
+            11.661499544857682,
+            -9.05471831723864
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1501.43523305095,
+            11.661499544857682,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1498.43523305095,
+            11.661499544857682,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1495.43523305095,
+            11.661499544857682,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1492.43523305095,
+            11.661499544857682,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1489.43523305095,
+            11.661499544857682,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1486.43523305095,
+            11.661499544857682,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1483.43523305095,
+            11.661499544857682,
+            -9.05471831723864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1480.43523305095,
+            11.661499544857682,
+            -9.05471831723864
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1477.724824523926,
+            10.967879819869996,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-2-17_1143195511/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-2-17_1143195511/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..890a34dd3d4f6a14057c960c1d69405886e8c894
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-2-17_1143195511/pose.jsonl
@@ -0,0 +1,235 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            261.1293795951261,
+            -173.1369031278154,
+            -8.130874826923439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            263.72745580647944,
+            -171.6369031278154,
+            -8.130874826923439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            266.32553201783276,
+            -170.1369031278154,
+            -8.130874826923439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            268.9236082291861,
+            -168.6369031278154,
+            -8.130874826923439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            271.5216844405394,
+            -167.1369031278154,
+            -8.130874826923439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            274.1197606518927,
+            -165.6369031278154,
+            -8.130874826923439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            276.717836863246,
+            -164.1369031278154,
+            -8.130874826923439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            279.31591307459934,
+            -162.6369031278154,
+            -8.130874826923439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            281.91398928595265,
+            -161.1369031278154,
+            -8.130874826923439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            284.51206549730597,
+            -159.6369031278154,
+            -8.130874826923439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            287.1101417086593,
+            -158.1369031278154,
+            -8.130874826923439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            289.7082179200126,
+            -156.6369031278154,
+            -8.130874826923439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            292.3062941313659,
+            -155.1369031278154,
+            -8.130874826923439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            294.90437034271923,
+            -153.6369031278154,
+            -8.130874826923439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            297.50244655407255,
+            -152.1369031278154,
+            -8.130874826923439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            300.10052276542586,
+            -150.6369031278154,
+            -8.130874826923439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            302.6985989767792,
+            -149.1369031278154,
+            -8.130874826923439
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            320.9684103012085,
+            -137.41820926666261,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-29-57_1139352160/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-29-57_1139352160/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c982b8954c0a917579f31242752b22acde6acd62
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-29-57_1139352160/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            134.83746646956683,
+            -488.1073683024832,
+            -0.8679570182508876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            134.83746646956683,
+            -491.1073683024832,
+            -0.8679570182508876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            134.83746646956683,
+            -494.1073683024832,
+            -0.8679570182508876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            134.83746646956683,
+            -497.1073683024832,
+            -0.8679570182508876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            134.83746646956683,
+            -500.1073683024832,
+            -0.8679570182508876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            134.83746646956683,
+            -503.1073683024832,
+            -0.8679570182508876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            134.83746646956683,
+            -506.1073683024832,
+            -0.8679570182508876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            134.83746646956683,
+            -509.1073683024832,
+            -0.8679570182508876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            134.83746646956683,
+            -512.1073683024832,
+            -0.8679570182508876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            134.83746646956683,
+            -515.1073683024832,
+            -0.8679570182508876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            134.83746646956683,
+            -518.1073683024832,
+            -0.8679570182508876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            134.83746646956683,
+            -521.1073683024832,
+            -0.8679570182508876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            134.83746646956683,
+            -524.1073683024832,
+            -0.8679570182508876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            134.83746646956683,
+            -527.1073683024832,
+            -0.8679570182508876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            134.83746646956683,
+            -530.1073683024832,
+            -0.8679570182508876
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            134.83746646956683,
+            -530.1073683024832,
+            -0.8679570182508876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            133.33746646956683,
+            -532.7054445138365,
+            -0.8679570182508876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            131.83746646956683,
+            -535.3035207251899,
+            -0.8679570182508876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            130.33746646956683,
+            -537.9015969365432,
+            -0.8679570182508876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            128.83746646956683,
+            -540.4996731478966,
+            -0.8679570182508876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            127.33746646956683,
+            -543.09774935925,
+            -0.8679570182508876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            125.83746646956683,
+            -545.6958255706033,
+            -0.8679570182508876
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            127.09756164550782,
+            -547.6103538513185,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-34-10_962980710/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-34-10_962980710/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0ef191e623522527b663ad9fcdaa0270ebb3625f
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-34-10_962980710/pose.jsonl
@@ -0,0 +1,391 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -247.0465675376298,
+            117.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -247.0465675376298,
+            114.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -247.0465675376298,
+            111.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -247.0465675376298,
+            108.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -247.0465675376298,
+            105.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -247.0465675376298,
+            102.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -247.0465675376298,
+            99.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -247.0465675376298,
+            96.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -247.0465675376298,
+            93.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -247.0465675376298,
+            90.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -247.0465675376298,
+            87.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -247.0465675376298,
+            84.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -247.0465675376298,
+            81.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -247.0465675376298,
+            78.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -247.0465675376298,
+            75.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -247.0465675376298,
+            72.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -247.0465675376298,
+            69.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -247.0465675376298,
+            66.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -247.0465675376298,
+            63.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -247.0465675376298,
+            60.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -247.0465675376298,
+            57.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -247.0465675376298,
+            57.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -247.0465675376298,
+            57.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -249.64464374898313,
+            55.62564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -252.24271996033644,
+            54.12564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -254.84079617168976,
+            52.62564380867822,
+            -6.460312846044575
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -254.84079617168976,
+            52.62564380867822,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -256.34079617168976,
+            50.027567597324904,
+            -6.460312846044575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -257.84079617168976,
+            47.42949138597159,
+            -6.460312846044575
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -259.2387418746948,
+            45.236197376251226,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-53-32_2117303605/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-53-32_2117303605/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..08ace82bd5f5f7b20f52a695fa1061b38029e4d7
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-53-32_2117303605/pose.jsonl
@@ -0,0 +1,53 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            993.899046533847,
+            203.83399615954514,
+            -0.41503142426521933
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            993.899046533847,
+            200.83399615954514,
+            -0.41503142426521933
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            993.899046533847,
+            197.83399615954514,
+            -0.41503142426521933
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            993.6485565185548,
+            138.21244525909424,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-54-28_1256273378/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-54-28_1256273378/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..92d79311ea4bc7c69c2e05472103cced0592d857
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-54-28_1256273378/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -170.01537872132815,
+            -244.5993588647734,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -167.01537872132815,
+            -244.5993588647734,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -164.01537872132815,
+            -244.5993588647734,
+            -4.8766632754187045
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -164.01537872132815,
+            -244.5993588647734,
+            -4.8766632754187045
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -164.01537872132815,
+            -244.5993588647734,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -162.51537872132815,
+            -247.1974350761267,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -161.01537872132815,
+            -249.79551128748002,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -159.51537872132815,
+            -252.39358749883334,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -158.01537872132815,
+            -254.99166371018666,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -156.51537872132815,
+            -257.58973992153994,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196593
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -155.01537872132815,
+            -260.18781613289326,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -153.51537872132815,
+            -262.7858923442466,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -152.01537872132815,
+            -265.3839685555999,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -150.51537872132815,
+            -267.9820447669532,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -149.01537872132815,
+            -270.5801209783065,
+            -4.8766632754187045
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -149.01537872132815,
+            -270.5801209783065,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -146.41730250997483,
+            -272.0801209783065,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -143.81922629862152,
+            -273.5801209783065,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -141.2211500872682,
+            -275.0801209783065,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -138.62307387591488,
+            -276.5801209783065,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -136.02499766456157,
+            -278.0801209783065,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -133.42692145320825,
+            -279.5801209783065,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -130.82884524185494,
+            -281.0801209783065,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -128.23076903050162,
+            -282.5801209783065,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -125.6326928191483,
+            -284.0801209783065,
+            -4.8766632754187045
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -123.03461660779499,
+            -285.5801209783065,
+            -4.8766632754187045
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -122.89827556610108,
+            -288.4065223693848,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-58-20_1604665417/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-58-20_1604665417/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3094d29cc65b8d166aa8389294602839bb8db34d
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-58-20_1604665417/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1104.1044973029746,
+            -268.8251045967521,
+            -9.502392288293793
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1101.5064210916212,
+            -267.3251045967521,
+            -9.502392288293793
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1098.9083448802678,
+            -265.8251045967521,
+            -9.502392288293793
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1096.3102686689144,
+            -264.3251045967521,
+            -9.502392288293793
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1093.712192457561,
+            -262.8251045967521,
+            -9.502392288293793
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1091.1141162462077,
+            -261.3251045967521,
+            -9.502392288293793
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1088.5160400348543,
+            -259.8251045967521,
+            -9.502392288293793
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1085.917963823501,
+            -258.3251045967521,
+            -9.502392288293793
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1083.3198876121476,
+            -256.8251045967521,
+            -9.502392288293793
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1080.7218114007942,
+            -255.3251045967521,
+            -9.502392288293793
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1078.1237351894408,
+            -253.8251045967521,
+            -9.502392288293793
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1075.5256589780874,
+            -252.3251045967521,
+            -9.502392288293793
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1072.927582766734,
+            -250.8251045967521,
+            -9.502392288293793
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1070.3295065553807,
+            -249.3251045967521,
+            -9.502392288293793
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1067.7314303440273,
+            -247.8251045967521,
+            -9.502392288293793
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1065.133354132674,
+            -246.3251045967521,
+            -9.502392288293793
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1062.5352779213206,
+            -244.8251045967521,
+            -9.502392288293793
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1062.5352779213206,
+            -244.8251045967521,
+            -9.502392288293793
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1059.5352779213206,
+            -244.8251045967521,
+            -9.502392288293793
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1056.5352779213206,
+            -244.8251045967521,
+            -9.502392288293793
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1053.5352779213206,
+            -244.8251045967521,
+            -9.502392288293793
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1050.5352779213206,
+            -244.8251045967521,
+            -9.502392288293793
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1047.5352779213206,
+            -244.8251045967521,
+            -9.502392288293793
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1031.390993499756,
+            -240.8672115325928,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-17-16_78417603/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-17-16_78417603/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f4c6f54d4e75104856a73e04d53908471aa5eaba
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-17-16_78417603/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1663.4177990417368,
+            -97.23279057858109,
+            -9.155125552874697
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1660.4177990417368,
+            -97.23279057858109,
+            -9.155125552874697
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1657.4177990417368,
+            -97.23279057858109,
+            -9.155125552874697
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1654.4177990417368,
+            -97.23279057858109,
+            -9.155125552874697
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1651.4177990417368,
+            -97.23279057858109,
+            -9.155125552874697
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1648.4177990417368,
+            -97.23279057858109,
+            -9.155125552874697
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1645.4177990417368,
+            -97.23279057858109,
+            -9.155125552874697
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1642.4177990417368,
+            -97.23279057858109,
+            -9.155125552874697
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1639.4177990417368,
+            -97.23279057858109,
+            -9.155125552874697
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1636.4177990417368,
+            -97.23279057858109,
+            -9.155125552874697
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1633.4177990417368,
+            -97.23279057858109,
+            -9.155125552874697
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1630.4177990417368,
+            -97.23279057858109,
+            -9.155125552874697
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1627.4177990417368,
+            -97.23279057858109,
+            -9.155125552874697
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1624.4177990417368,
+            -97.23279057858109,
+            -9.155125552874697
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1621.4177990417368,
+            -97.23279057858109,
+            -9.155125552874697
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1618.4177990417368,
+            -97.23279057858109,
+            -9.155125552874697
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1615.4177990417368,
+            -97.23279057858109,
+            -9.155125552874697
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1612.4177990417368,
+            -97.23279057858109,
+            -9.155125552874697
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1609.4177990417368,
+            -97.23279057858109,
+            -9.155125552874697
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1606.4177990417368,
+            -97.23279057858109,
+            -9.155125552874697
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1603.4177990417368,
+            -97.23279057858109,
+            -9.155125552874697
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1602.297836303711,
+            -98.12757396697998,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-19-22_1540846267/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-19-22_1540846267/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..62973d6a6afca82786323c923c63e8ae9f968c5d
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-19-22_1540846267/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            25.77604643512494,
+            221.55156738117012,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            27.27604643512494,
+            218.9534911698168,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            28.77604643512494,
+            216.35541495846348,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            30.27604643512494,
+            213.75733874711017,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            31.77604643512494,
+            211.15926253575685,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            33.27604643512494,
+            208.56118632440354,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            34.77604643512494,
+            205.96311011305022,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            36.27604643512494,
+            203.3650339016969,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            37.77604643512494,
+            200.7669576903436,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            39.27604643512494,
+            198.16888147899027,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            40.77604643512494,
+            195.57080526763696,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            42.27604643512494,
+            192.97272905628364,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            43.77604643512494,
+            190.37465284493032,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            45.27604643512494,
+            187.776576633577,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            46.77604643512494,
+            185.1785004222237,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            48.27604643512494,
+            182.58042421087038,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            49.77604643512494,
+            179.98234799951706,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            51.27604643512494,
+            177.38427178816374,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            52.77604643512494,
+            174.78619557681043,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            54.27604643512494,
+            172.1881193654571,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            55.77604643512494,
+            169.5900431541038,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            57.27604643512494,
+            166.99196694275048,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            58.77604643512494,
+            164.39389073139716,
+            -7.697924682284784
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            58.77604643512494,
+            164.39389073139716,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            58.77604643512494,
+            161.39389073139716,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            58.77604643512494,
+            158.39389073139716,
+            -7.697924682284784
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            58.77604643512494,
+            155.39389073139716,
+            -7.697924682284784
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            59.49086513519288,
+            153.78228397369386,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-2-58_551201745/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-2-58_551201745/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a94dc4886fa3bcfb2129f7ffda4d75e2416bdba0
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-2-58_551201745/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            22.490366208632466,
+            -360.59547497619536,
+            -5.048694260662331
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            19.490366208632466,
+            -360.59547497619536,
+            -5.048694260662331
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            16.490366208632466,
+            -360.59547497619536,
+            -5.048694260662331
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            13.490366208632466,
+            -360.59547497619536,
+            -5.048694260662331
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            10.490366208632466,
+            -360.59547497619536,
+            -5.048694260662331
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            7.490366208632466,
+            -360.59547497619536,
+            -5.048694260662331
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            4.490366208632466,
+            -360.59547497619536,
+            -5.048694260662331
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1.4903662086324658,
+            -360.59547497619536,
+            -5.048694260662331
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1.5096337913675342,
+            -360.59547497619536,
+            -5.048694260662331
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -4.509633791367534,
+            -360.59547497619536,
+            -5.048694260662331
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -7.509633791367534,
+            -360.59547497619536,
+            -5.048694260662331
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -10.509633791367534,
+            -360.59547497619536,
+            -5.048694260662331
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -13.509633791367534,
+            -360.59547497619536,
+            -5.048694260662331
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -16.509633791367534,
+            -360.59547497619536,
+            -5.048694260662331
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -19.509633791367534,
+            -360.59547497619536,
+            -5.048694260662331
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -22.509633791367534,
+            -360.59547497619536,
+            -5.048694260662331
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -25.509633791367534,
+            -360.59547497619536,
+            -5.048694260662331
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -28.509633791367534,
+            -360.59547497619536,
+            -5.048694260662331
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -31.509633791367534,
+            -360.59547497619536,
+            -5.048694260662331
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -34.509633791367534,
+            -360.59547497619536,
+            -5.048694260662331
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -37.04707775115967,
+            -360.1783214569092,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-20-14_2003980519/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-20-14_2003980519/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a400e1eb61bce02c76803e544eb1699a9f1bbe7
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-20-14_2003980519/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            587.087866882776,
+            381.68723424097334,
+            -0.3784978859751078
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            588.587866882776,
+            379.08915802962,
+            -0.3784978859751078
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            590.087866882776,
+            376.4910818182667,
+            -0.3784978859751078
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            591.587866882776,
+            373.8930056069134,
+            -0.3784978859751078
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            593.087866882776,
+            371.2949293955601,
+            -0.3784978859751078
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            594.587866882776,
+            368.69685318420676,
+            -0.3784978859751078
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            596.087866882776,
+            366.09877697285344,
+            -0.3784978859751078
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            597.587866882776,
+            363.5007007615001,
+            -0.3784978859751078
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            599.087866882776,
+            360.9026245501468,
+            -0.3784978859751078
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            600.587866882776,
+            358.3045483387935,
+            -0.3784978859751078
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            602.087866882776,
+            355.7064721274402,
+            -0.3784978859751078
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            603.587866882776,
+            353.10839591608686,
+            -0.3784978859751078
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            605.087866882776,
+            350.51031970473355,
+            -0.3784978859751078
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            605.087866882776,
+            350.51031970473355,
+            -0.3784978859751078
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            607.6859430941292,
+            349.01031970473355,
+            -0.3784978859751078
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            610.2840193054826,
+            347.51031970473355,
+            -0.3784978859751078
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            612.882095516836,
+            346.01031970473355,
+            -0.3784978859751078
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            615.4801717281894,
+            344.51031970473355,
+            -0.3784978859751078
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            618.0782479395427,
+            343.01031970473355,
+            -0.3784978859751078
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            620.6763241508961,
+            341.51031970473355,
+            -0.3784978859751078
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            623.2744003622495,
+            340.01031970473355,
+            -0.3784978859751078
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            625.8724765736029,
+            338.51031970473355,
+            -0.3784978859751078
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            628.4705527849562,
+            337.01031970473355,
+            -0.3784978859751078
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            628.2089225769043,
+            334.6269786834717,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-22-59_1091714937/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-22-59_1091714937/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..da4c843bced42f2485909b912ff75f2c2de35705
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-22-59_1091714937/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            119.25028649755475,
+            -635.2686785956305,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            117.75028649755475,
+            -637.8667548069839,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            116.25028649755475,
+            -640.4648310183372,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            114.75028649755475,
+            -643.0629072296906,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            113.25028649755475,
+            -645.660983441044,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            111.75028649755475,
+            -648.2590596523974,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            110.25028649755475,
+            -650.8571358637507,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            108.75028649755475,
+            -653.4552120751041,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            107.25028649755475,
+            -656.0532882864575,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            105.75028649755475,
+            -658.6513644978108,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            104.25028649755475,
+            -661.2494407091642,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            102.75028649755475,
+            -663.8475169205176,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            101.25028649755475,
+            -666.445593131871,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            99.75028649755475,
+            -669.0436693432243,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            98.25028649755475,
+            -671.6417455545777,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            96.75028649755475,
+            -674.2398217659311,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            95.25028649755475,
+            -676.8378979772845,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            93.75028649755475,
+            -679.4359741886378,
+            -1.2434372869351957
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            93.75028649755475,
+            -679.4359741886378,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            91.15221028620144,
+            -680.9359741886378,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            88.55413407484812,
+            -682.4359741886378,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            85.9560578634948,
+            -683.9359741886378,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            83.35798165214149,
+            -685.4359741886378,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            80.75990544078817,
+            -686.9359741886378,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            78.16182922943486,
+            -688.4359741886378,
+            -1.2434372869351957
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            78.16182922943486,
+            -688.4359741886378,
+            -1.2434372869351957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            76.66182922943486,
+            -691.0340503999912,
+            -1.2434372869351957
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            75.18217315673829,
+            -694.5978416442872,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-28-38_1551291986/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-28-38_1551291986/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e0181c67f8b161c7c3abfde2181d9baf5edbe5d5
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-28-38_1551291986/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -274.5019614427931,
+            -246.377180318464,
+            -7.053029180169132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -274.5019614427931,
+            -243.377180318464,
+            -7.053029180169132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -274.5019614427931,
+            -240.377180318464,
+            -7.053029180169132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -274.5019614427931,
+            -237.377180318464,
+            -7.053029180169132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -274.5019614427931,
+            -234.377180318464,
+            -7.053029180169132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -274.5019614427931,
+            -231.377180318464,
+            -7.053029180169132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -274.5019614427931,
+            -228.377180318464,
+            -7.053029180169132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -274.5019614427931,
+            -225.377180318464,
+            -7.053029180169132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -274.5019614427931,
+            -222.377180318464,
+            -7.053029180169132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -274.5019614427931,
+            -219.377180318464,
+            -7.053029180169132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -274.5019614427931,
+            -216.377180318464,
+            -7.053029180169132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -274.5019614427931,
+            -213.377180318464,
+            -7.053029180169132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -274.5019614427931,
+            -210.377180318464,
+            -7.053029180169132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -274.5019614427931,
+            -207.377180318464,
+            -7.053029180169132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -274.5019614427931,
+            -204.377180318464,
+            -7.053029180169132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -274.5019614427931,
+            -201.377180318464,
+            -7.053029180169132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -274.5019614427931,
+            -198.377180318464,
+            -7.053029180169132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -274.5019614427931,
+            -195.377180318464,
+            -7.053029180169132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -274.5019614427931,
+            -192.377180318464,
+            -7.053029180169132
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -274.5019614427931,
+            -192.377180318464,
+            -7.053029180169132
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -274.5019614427931,
+            -192.377180318464,
+            -7.053029180169132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -277.10003765414643,
+            -190.877180318464,
+            -7.053029180169132
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -277.72470836639405,
+            -188.3509792327881,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-33-6_1637840187/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-33-6_1637840187/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..42f388c8f34b18f806beaa9b32083e729c595e1b
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-33-6_1637840187/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            283.8462372403067,
+            177.7909602831282,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            285.3462372403067,
+            180.3890364944815,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            286.8462372403067,
+            182.98711270583482,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            288.3462372403067,
+            185.58518891718813,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            289.8462372403067,
+            188.18326512854145,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            291.3462372403067,
+            190.78134133989477,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            292.8462372403067,
+            193.37941755124808,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            294.3462372403067,
+            195.9774937626014,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            295.8462372403067,
+            198.5755699739547,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            297.3462372403067,
+            201.17364618530803,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            298.8462372403067,
+            203.77172239666135,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            300.3462372403067,
+            206.36979860801466,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            301.8462372403067,
+            208.96787481936798,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            303.3462372403067,
+            211.5659510307213,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            304.8462372403067,
+            214.1640272420746,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            306.3462372403067,
+            216.76210345342793,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            307.8462372403067,
+            219.36017966478124,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            309.3462372403067,
+            221.95825587613456,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            310.8462372403067,
+            224.55633208748787,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            312.3462372403067,
+            227.1544082988412,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            313.8462372403067,
+            229.7524845101945,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            315.3462372403067,
+            232.35056072154782,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            316.8462372403067,
+            234.94863693290114,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            318.3462372403067,
+            237.54671314425445,
+            -4.03391519954236
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            318.3462372403067,
+            237.54671314425445,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            318.3462372403067,
+            240.54671314425445,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            318.3462372403067,
+            243.54671314425445,
+            -4.03391519954236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            318.3462372403067,
+            246.54671314425445,
+            -4.03391519954236
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            317.568487739563,
+            250.2678318023682,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-36-55_1337856142/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-36-55_1337856142/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a87d2aca183f7bbb6ddf2ad4d000d26e1f9836f
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-36-55_1337856142/pose.jsonl
@@ -0,0 +1,222 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            953.2970546520462,
+            79.38219686718291,
+            -4.254936718092258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            954.7970546520462,
+            81.98027307853623,
+            -4.254936718092258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            956.2970546520462,
+            84.57834928988954,
+            -4.254936718092258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            957.7970546520462,
+            87.17642550124286,
+            -4.254936718092258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            959.2970546520462,
+            89.77450171259618,
+            -4.254936718092258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            960.7970546520462,
+            92.37257792394949,
+            -4.254936718092258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            962.2970546520462,
+            94.97065413530281,
+            -4.254936718092258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            963.7970546520462,
+            97.56873034665612,
+            -4.254936718092258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            965.2970546520462,
+            100.16680655800944,
+            -4.254936718092258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            966.7970546520462,
+            102.76488276936276,
+            -4.254936718092258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            968.2970546520462,
+            105.36295898071607,
+            -4.254936718092258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            969.7970546520462,
+            107.96103519206939,
+            -4.254936718092258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            971.2970546520462,
+            110.5591114034227,
+            -4.254936718092258
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            971.2970546520462,
+            110.5591114034227,
+            -4.254936718092258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            973.8951308633996,
+            112.0591114034227,
+            -4.254936718092258
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            976.493207074753,
+            113.5591114034227,
+            -4.254936718092258
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            993.6485565185548,
+            138.21244525909424,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-4-19_1718264801/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-4-19_1718264801/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..85ed54673207b8c5141b9014f1cfb246754f68da
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-4-19_1718264801/pose.jsonl
@@ -0,0 +1,183 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1519.4721179916598,
+            -176.0101265543849,
+            -6.771319621685471
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1519.4721179916598,
+            -173.0101265543849,
+            -6.771319621685471
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1519.4721179916598,
+            -170.0101265543849,
+            -6.771319621685471
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1519.4721179916598,
+            -167.0101265543849,
+            -6.771319621685471
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1519.4721179916598,
+            -164.0101265543849,
+            -6.771319621685471
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1519.4721179916598,
+            -161.0101265543849,
+            -6.771319621685471
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1519.4721179916598,
+            -158.0101265543849,
+            -6.771319621685471
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1519.4721179916598,
+            -155.0101265543849,
+            -6.771319621685471
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1519.4721179916598,
+            -152.0101265543849,
+            -6.771319621685471
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1519.4721179916598,
+            -149.0101265543849,
+            -6.771319621685471
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1519.4721179916598,
+            -146.0101265543849,
+            -6.771319621685471
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1519.4721179916598,
+            -143.0101265543849,
+            -6.771319621685471
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1519.4721179916598,
+            -140.0101265543849,
+            -6.771319621685471
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1517.6720581054688,
+            -108.54975051879883,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-4-6_1199680559/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-4-6_1199680559/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..81d5d095cbd76cccc7a3dab87adac3761d51770a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-4-6_1199680559/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            120.0879671799082,
+            116.16086471983908,
+            -2.2665852945110574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            120.0879671799082,
+            119.16086471983908,
+            -2.2665852945110574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            120.0879671799082,
+            122.16086471983908,
+            -2.2665852945110574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            120.0879671799082,
+            125.16086471983908,
+            -2.2665852945110574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            120.0879671799082,
+            128.16086471983908,
+            -2.2665852945110574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            120.0879671799082,
+            131.16086471983908,
+            -2.2665852945110574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            120.0879671799082,
+            134.16086471983908,
+            -2.2665852945110574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            120.0879671799082,
+            137.16086471983908,
+            -2.2665852945110574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            120.0879671799082,
+            140.16086471983908,
+            -2.2665852945110574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            120.0879671799082,
+            143.16086471983908,
+            -2.2665852945110574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            120.0879671799082,
+            146.16086471983908,
+            -2.2665852945110574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            120.0879671799082,
+            149.16086471983908,
+            -2.2665852945110574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            120.0879671799082,
+            152.16086471983908,
+            -2.2665852945110574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            120.0879671799082,
+            155.16086471983908,
+            -2.2665852945110574
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            120.0879671799082,
+            155.16086471983908,
+            -2.2665852945110574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            118.5879671799082,
+            157.7589409311924,
+            -2.2665852945110574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            117.0879671799082,
+            160.35701714254571,
+            -2.2665852945110574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            115.5879671799082,
+            162.95509335389903,
+            -2.2665852945110574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            114.0879671799082,
+            165.55316956525235,
+            -2.2665852945110574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            112.5879671799082,
+            168.15124577660566,
+            -2.2665852945110574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            111.0879671799082,
+            170.74932198795898,
+            -2.2665852945110574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            109.5879671799082,
+            173.3473981993123,
+            -2.2665852945110574
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            108.78504695892335,
+            175.8657693862915,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-2-37_1763360602/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-2-37_1763360602/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2dbae4545708c3bf3ccaa50b8905e770539d639f
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-2-37_1763360602/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -96.48460205255347,
+            -389.9803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -93.48460205255347,
+            -389.9803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -90.48460205255347,
+            -389.9803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -87.48460205255347,
+            -389.9803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -84.48460205255347,
+            -389.9803051283248,
+            -5.763047237759611
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -84.48460205255347,
+            -389.9803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -81.88652584120015,
+            -388.4803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -79.28844962984684,
+            -386.9803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -76.69037341849352,
+            -385.4803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -74.0922972071402,
+            -383.9803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -71.49422099578689,
+            -382.4803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -68.89614478443357,
+            -380.9803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -66.29806857308026,
+            -379.4803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -63.69999236172694,
+            -377.9803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -61.101916150373626,
+            -376.4803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -58.50383993902031,
+            -374.9803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -55.905763727666994,
+            -373.4803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -53.30768751631368,
+            -371.9803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -50.70961130496036,
+            -370.4803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -48.111535093607046,
+            -368.9803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -45.51345888225373,
+            -367.4803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -42.915382670900414,
+            -365.9803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -40.3173064595471,
+            -364.4803051283248,
+            -5.763047237759611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -37.71923024819378,
+            -362.9803051283248,
+            -5.763047237759611
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -37.04707775115967,
+            -360.1783214569092,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-22-10_989492335/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-22-10_989492335/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..89aafdb38c9bc0fee73f34edc6d9eb7bdf4d0680
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-22-10_989492335/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            858.3160595462201,
+            -384.7248823396735,
+            -9.387945392101951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            861.3160595462201,
+            -384.7248823396735,
+            -9.387945392101951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            864.3160595462201,
+            -384.7248823396735,
+            -9.387945392101951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            867.3160595462201,
+            -384.7248823396735,
+            -9.387945392101951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            870.3160595462201,
+            -384.7248823396735,
+            -9.387945392101951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            873.3160595462201,
+            -384.7248823396735,
+            -9.387945392101951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            876.3160595462201,
+            -384.7248823396735,
+            -9.387945392101951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            879.3160595462201,
+            -384.7248823396735,
+            -9.387945392101951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            882.3160595462201,
+            -384.7248823396735,
+            -9.387945392101951
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            882.3160595462201,
+            -384.7248823396735,
+            -9.387945392101951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            884.9141357575734,
+            -386.2248823396735,
+            -9.387945392101951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            887.5122119689267,
+            -387.7248823396735,
+            -9.387945392101951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            890.1102881802801,
+            -389.2248823396735,
+            -9.387945392101951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            892.7083643916335,
+            -390.7248823396735,
+            -9.387945392101951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            895.3064406029869,
+            -392.2248823396735,
+            -9.387945392101951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            897.9045168143402,
+            -393.7248823396735,
+            -9.387945392101951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            900.5025930256936,
+            -395.2248823396735,
+            -9.387945392101951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            903.100669237047,
+            -396.7248823396735,
+            -9.387945392101951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            905.6987454484004,
+            -398.2248823396735,
+            -9.387945392101951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            908.2968216597537,
+            -399.7248823396735,
+            -9.387945392101951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            910.8948978711071,
+            -401.2248823396735,
+            -9.387945392101951
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            927.2414848327637,
+            -404.25602226257325,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-29-33_729568616/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-29-33_729568616/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6cb562c476d5f7b1d4be59334dfbcd0032d1767a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-29-33_729568616/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1446.9018038627787,
+            80.06700984333852,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1448.4018038627787,
+            77.46893363198521,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1449.9018038627787,
+            74.87085742063189,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1451.4018038627787,
+            72.27278120927858,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1452.9018038627787,
+            69.67470499792526,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1454.4018038627787,
+            67.07662878657194,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1455.9018038627787,
+            64.47855257521863,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1457.4018038627787,
+            61.88047636386531,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1458.9018038627787,
+            59.282400152512,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1460.4018038627787,
+            56.68432394115868,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1461.9018038627787,
+            54.086247729805365,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1463.4018038627787,
+            51.48817151845205,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1464.9018038627787,
+            48.89009530709873,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1466.4018038627787,
+            46.29201909574542,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1467.9018038627787,
+            43.6939428843921,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1469.4018038627787,
+            41.095866673038785,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1470.9018038627787,
+            38.49779046168547,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1472.4018038627787,
+            35.89971425033215,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1473.9018038627787,
+            33.30163803897884,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1475.4018038627787,
+            30.70356182762552,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1476.9018038627787,
+            28.105485616272205,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1478.4018038627787,
+            25.50740940491889,
+            -6.20300568846063
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1478.4018038627787,
+            25.50740940491889,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1478.4018038627787,
+            22.50740940491889,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1478.4018038627787,
+            19.50740940491889,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1478.4018038627787,
+            16.50740940491889,
+            -6.20300568846063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1478.4018038627787,
+            13.507409404918889,
+            -6.20300568846063
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1477.724824523926,
+            10.967879819869996,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-39-28_1368062958/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-39-28_1368062958/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fcdce2ee94685eb295bd186c8ce0002887aee420
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-39-28_1368062958/pose.jsonl
@@ -0,0 +1,183 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            839.9297073504821,
+            126.16870572141167,
+            -3.7807627904493843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            837.3316311391288,
+            124.66870572141167,
+            -3.7807627904493843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            834.7335549277755,
+            123.16870572141167,
+            -3.7807627904493843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            832.1354787164221,
+            121.66870572141167,
+            -3.7807627904493843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            829.5374025050687,
+            120.16870572141167,
+            -3.7807627904493843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            826.9393262937153,
+            118.66870572141167,
+            -3.7807627904493843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            824.341250082362,
+            117.16870572141167,
+            -3.7807627904493843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            821.7431738710086,
+            115.66870572141167,
+            -3.7807627904493843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            819.1450976596552,
+            114.16870572141167,
+            -3.7807627904493843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            816.5470214483018,
+            112.66870572141167,
+            -3.7807627904493843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            813.9489452369485,
+            111.16870572141167,
+            -3.7807627904493843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            811.3508690255951,
+            109.66870572141167,
+            -3.7807627904493843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            808.7527928142417,
+            108.16870572141167,
+            -3.7807627904493843
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            793.9949005126954,
+            95.9690920829773,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-46-15_553918865/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-46-15_553918865/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7e7b2c57f712c65612fd350f8d2b33e29c75ede6
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-46-15_553918865/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -235.68047842033812,
+            -95.0818192763243,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -234.18047842033812,
+            -97.67989548767761,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -232.68047842033812,
+            -100.27797169903093,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -231.18047842033812,
+            -102.87604791038424,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -229.68047842033812,
+            -105.47412412173756,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -228.18047842033812,
+            -108.07220033309088,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -226.68047842033812,
+            -110.67027654444419,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -225.18047842033812,
+            -113.26835275579751,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -223.68047842033812,
+            -115.86642896715082,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -222.18047842033812,
+            -118.46450517850414,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -220.68047842033812,
+            -121.06258138985746,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -219.18047842033812,
+            -123.66065760121077,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -217.68047842033812,
+            -126.25873381256409,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -216.18047842033812,
+            -128.8568100239174,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -214.68047842033812,
+            -131.45488623527072,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -213.18047842033812,
+            -134.05296244662404,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -211.68047842033812,
+            -136.65103865797735,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -210.18047842033812,
+            -139.24911486933067,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -208.68047842033812,
+            -141.84719108068398,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -207.18047842033812,
+            -144.4452672920373,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -205.68047842033812,
+            -147.04334350339062,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -204.18047842033812,
+            -149.64141971474393,
+            -9.464472330284728
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -204.18047842033812,
+            -149.64141971474393,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -204.18047842033812,
+            -152.64141971474393,
+            -9.464472330284728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -204.18047842033812,
+            -155.64141971474393,
+            -9.464472330284728
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -203.22534084320068,
+            -159.0278995513916,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-46-37_1752143421/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-46-37_1752143421/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8a66881247ca6d94c68c691a81619ef324bca5be
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-46-37_1752143421/pose.jsonl
@@ -0,0 +1,170 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1075.7441105908122,
+            105.03911701009203,
+            -8.68905191871563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1074.2441105908122,
+            107.63719322144534,
+            -8.68905191871563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1072.7441105908122,
+            110.23526943279866,
+            -8.68905191871563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1071.2441105908122,
+            112.83334564415198,
+            -8.68905191871563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1069.7441105908122,
+            115.43142185550529,
+            -8.68905191871563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1068.2441105908122,
+            118.02949806685861,
+            -8.68905191871563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1066.7441105908122,
+            120.62757427821192,
+            -8.68905191871563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1065.2441105908122,
+            123.22565048956524,
+            -8.68905191871563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1063.7441105908122,
+            125.82372670091856,
+            -8.68905191871563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1062.2441105908122,
+            128.42180291227186,
+            -8.68905191871563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393198
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1060.7441105908122,
+            131.01987912362517,
+            -8.68905191871563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1059.2441105908122,
+            133.6179553349785,
+            -8.68905191871563
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1048.2760719299317,
+            161.26469898223877,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-47-41_688852786/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-47-41_688852786/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6572a4efd61fb0e35c2ce4d6a9095c20891ac455
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-47-41_688852786/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1412.9130820152957,
+            133.71729465602567,
+            -8.517788050763132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1414.4130820152957,
+            131.11921844467236,
+            -8.517788050763132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1415.9130820152957,
+            128.52114223331904,
+            -8.517788050763132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1417.4130820152957,
+            125.92306602196572,
+            -8.517788050763132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1418.9130820152957,
+            123.32498981061241,
+            -8.517788050763132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1420.4130820152957,
+            120.72691359925909,
+            -8.517788050763132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1421.9130820152957,
+            118.12883738790578,
+            -8.517788050763132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1423.4130820152957,
+            115.53076117655246,
+            -8.517788050763132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1424.9130820152957,
+            112.93268496519914,
+            -8.517788050763132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1426.4130820152957,
+            110.33460875384583,
+            -8.517788050763132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1427.9130820152957,
+            107.73653254249251,
+            -8.517788050763132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1429.4130820152957,
+            105.1384563311392,
+            -8.517788050763132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1430.9130820152957,
+            102.54038011978588,
+            -8.517788050763132
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1430.9130820152957,
+            102.54038011978588,
+            -8.517788050763132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1430.9130820152957,
+            99.54038011978588,
+            -8.517788050763132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1430.9130820152957,
+            96.54038011978588,
+            -8.517788050763132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1430.9130820152957,
+            93.54038011978588,
+            -8.517788050763132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1430.9130820152957,
+            90.54038011978588,
+            -8.517788050763132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1430.9130820152957,
+            87.54038011978588,
+            -8.517788050763132
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1430.9130820152957,
+            84.54038011978588,
+            -8.517788050763132
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1432.5684967041016,
+            76.17316565513612,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-53-28_33165457/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-53-28_33165457/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f20093fa98b8f50798b7f18bfc2fa01801989b23
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-53-28_33165457/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -12.761874992314173,
+            -536.913828960669,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -11.261874992314173,
+            -539.5119051720224,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -9.761874992314173,
+            -542.1099813833757,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -8.261874992314173,
+            -544.7080575947291,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -6.761874992314173,
+            -547.3061338060825,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -5.261874992314173,
+            -549.9042100174358,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -3.7618749923141723,
+            -552.5022862287892,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -2.261874992314172,
+            -555.1003624401426,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -0.7618749923141714,
+            -557.698438651496,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            0.738125007685829,
+            -560.2965148628493,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            2.2381250076858294,
+            -562.8945910742027,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            3.73812500768583,
+            -565.4926672855561,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            5.238125007685831,
+            -568.0907434969095,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196607
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            6.738125007685831,
+            -570.6888197082628,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            8.23812500768583,
+            -573.2868959196162,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            9.73812500768583,
+            -575.8849721309696,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            11.23812500768583,
+            -578.483048342323,
+            -1.4858608519083951
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            11.23812500768583,
+            -578.483048342323,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            13.836201219039147,
+            -579.983048342323,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            16.434277430392463,
+            -581.483048342323,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            19.03235364174578,
+            -582.983048342323,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            21.630429853099095,
+            -584.483048342323,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            24.22850606445241,
+            -585.983048342323,
+            -1.4858608519083951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            26.826582275805727,
+            -587.483048342323,
+            -1.4858608519083951
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            29.783947944641117,
+            -587.6620632171631,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-54-59_138172497/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-54-59_138172497/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f5966ee94855415d0c02bb1bde6b08588f9667b3
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-54-59_138172497/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            601.332674205802,
+            -52.976716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            603.9307504171554,
+            -51.476716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            606.5288266285088,
+            -49.976716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            609.1269028398622,
+            -48.476716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            611.7249790512155,
+            -46.976716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            614.3230552625689,
+            -45.476716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            616.9211314739223,
+            -43.976716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            619.5192076852757,
+            -42.476716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            622.117283896629,
+            -40.976716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            624.7153601079824,
+            -39.476716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            627.3134363193358,
+            -37.976716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            629.9115125306892,
+            -36.476716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            632.5095887420425,
+            -34.976716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            635.1076649533959,
+            -33.476716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            637.7057411647493,
+            -31.976716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            640.3038173761026,
+            -30.476716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            642.901893587456,
+            -28.976716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            645.4999697988094,
+            -27.476716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            648.0980460101628,
+            -25.976716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            650.6961222215161,
+            -24.476716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            653.2941984328695,
+            -22.976716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            655.8922746442229,
+            -21.476716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            658.4903508555763,
+            -19.976716386480575,
+            -2.7962529239921174
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            658.4903508555763,
+            -19.976716386480575,
+            -2.7962529239921174
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            658.4903508555763,
+            -19.976716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.570796326794887
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            658.4903508555763,
+            -16.976716386480575,
+            -2.7962529239921174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            658.4903508555763,
+            -13.976716386480575,
+            -2.7962529239921174
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            661.0575393676759,
+            -10.88031406402588,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-55-33_1179529128/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-55-33_1179529128/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..915bca30ea5a67a635f1bf0cfb2f6eeb653e0f29
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-55-33_1179529128/pose.jsonl
@@ -0,0 +1,404 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1197.716675471011,
+            205.1138901406828,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1200.716675471011,
+            205.1138901406828,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1203.716675471011,
+            205.1138901406828,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1206.716675471011,
+            205.1138901406828,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1209.716675471011,
+            205.1138901406828,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1212.716675471011,
+            205.1138901406828,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1215.716675471011,
+            205.1138901406828,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1218.716675471011,
+            205.1138901406828,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1221.716675471011,
+            205.1138901406828,
+            -1.4466524196184345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1221.716675471011,
+            205.1138901406828,
+            -1.4466524196184345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1221.716675471011,
+            205.1138901406828,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1223.216675471011,
+            202.51581392932948,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1224.716675471011,
+            199.91773771797617,
+            -1.4466524196184345
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1224.716675471011,
+            199.91773771797617,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1227.3147516823644,
+            198.41773771797617,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1229.9128278937178,
+            196.91773771797617,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1232.5109041050712,
+            195.41773771797617,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1235.1089803164245,
+            193.91773771797617,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1237.707056527778,
+            192.41773771797617,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1240.3051327391313,
+            190.91773771797617,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1242.9032089504847,
+            189.41773771797617,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1245.501285161838,
+            187.91773771797617,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1248.0993613731914,
+            186.41773771797617,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1250.6974375845448,
+            184.91773771797617,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1253.2955137958982,
+            183.41773771797617,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1255.8935900072515,
+            181.91773771797617,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1258.491666218605,
+            180.41773771797617,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1261.0897424299583,
+            178.91773771797617,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1263.6878186413117,
+            177.41773771797617,
+            -1.4466524196184345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1266.285894852665,
+            175.91773771797617,
+            -1.4466524196184345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1269.6296508789064,
+            175.0053077697754,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-57-37_1656241707/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-57-37_1656241707/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0cad6ae87ad2a1d777c2a9dd5c80c29bb148119a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-57-37_1656241707/pose.jsonl
@@ -0,0 +1,209 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            628.9657300451598,
+            -120.04789723023472,
+            -0.11017208322161487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            630.4657300451598,
+            -117.44982101888141,
+            -0.11017208322161487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            631.9657300451598,
+            -114.85174480752809,
+            -0.11017208322161487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            633.4657300451598,
+            -112.25366859617478,
+            -0.11017208322161487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            634.9657300451598,
+            -109.65559238482146,
+            -0.11017208322161487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            636.4657300451598,
+            -107.05751617346814,
+            -0.11017208322161487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            637.9657300451598,
+            -104.45943996211483,
+            -0.11017208322161487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            639.4657300451598,
+            -101.86136375076151,
+            -0.11017208322161487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            640.9657300451598,
+            -99.2632875394082,
+            -0.11017208322161487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            642.4657300451598,
+            -96.66521132805488,
+            -0.11017208322161487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            643.9657300451598,
+            -94.06713511670156,
+            -0.11017208322161487
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            643.9657300451598,
+            -94.06713511670156,
+            -0.11017208322161487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            646.5638062565131,
+            -92.56713511670156,
+            -0.11017208322161487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            649.1618824678665,
+            -91.06713511670156,
+            -0.11017208322161487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            651.7599586792198,
+            -89.56713511670156,
+            -0.11017208322161487
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            668.9317680358887,
+            -69.13963012695314,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-58-30_233233021/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-58-30_233233021/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cc275db3bd08f49278005d0c315734d38a8e576b
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-58-30_233233021/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -96.76622143126289,
+            -194.5158550426898,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -99.36429764261621,
+            -196.0158550426898,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -101.96237385396952,
+            -197.5158550426898,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -104.56045006532284,
+            -199.0158550426898,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -107.15852627667616,
+            -200.5158550426898,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -109.75660248802947,
+            -202.0158550426898,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -112.35467869938279,
+            -203.5158550426898,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -114.9527549107361,
+            -205.0158550426898,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -117.55083112208942,
+            -206.5158550426898,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -120.14890733344274,
+            -208.0158550426898,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -122.74698354479605,
+            -209.5158550426898,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -125.34505975614937,
+            -211.0158550426898,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -127.94313596750268,
+            -212.5158550426898,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -130.541212178856,
+            -214.0158550426898,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -133.13928839020932,
+            -215.5158550426898,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -135.73736460156263,
+            -217.0158550426898,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -138.33544081291595,
+            -218.5158550426898,
+            -9.090097102999515
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -138.33544081291595,
+            -218.5158550426898,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -139.83544081291595,
+            -221.1139312540431,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -141.33544081291595,
+            -223.71200746539643,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -142.83544081291595,
+            -226.31008367674974,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -144.33544081291595,
+            -228.90815988810306,
+            -9.090097102999515
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -144.33544081291595,
+            -228.90815988810306,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -146.93351702426926,
+            -230.40815988810306,
+            -9.090097102999515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -149.53159323562258,
+            -231.90815988810306,
+            -9.090097102999515
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -152.3348680496216,
+            -234.43780555725098,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-0-14_1908681983/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-0-14_1908681983/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1798b1a150b9aaaa7172f6d84b30248b96d0916b
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-0-14_1908681983/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            245.1393684278886,
+            80.51764311557292,
+            -8.849097019300457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            245.1393684278886,
+            83.51764311557292,
+            -8.849097019300457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            245.1393684278886,
+            86.51764311557292,
+            -8.849097019300457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            245.1393684278886,
+            89.51764311557292,
+            -8.849097019300457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            245.1393684278886,
+            92.51764311557292,
+            -8.849097019300457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            245.1393684278886,
+            95.51764311557292,
+            -8.849097019300457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            245.1393684278886,
+            98.51764311557292,
+            -8.849097019300457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            245.1393684278886,
+            101.51764311557292,
+            -8.849097019300457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            245.1393684278886,
+            104.51764311557292,
+            -8.849097019300457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            245.1393684278886,
+            107.51764311557292,
+            -8.849097019300457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            245.1393684278886,
+            110.51764311557292,
+            -8.849097019300457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            245.1393684278886,
+            113.51764311557292,
+            -8.849097019300457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            245.1393684278886,
+            116.51764311557292,
+            -8.849097019300457
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            245.1393684278886,
+            116.51764311557292,
+            -8.849097019300457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            246.6393684278886,
+            119.11571932692624,
+            -8.849097019300457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            248.1393684278886,
+            121.71379553827956,
+            -8.849097019300457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            249.6393684278886,
+            124.31187174963287,
+            -8.849097019300457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            251.1393684278886,
+            126.90994796098619,
+            -8.849097019300457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            252.6393684278886,
+            129.5080241723395,
+            -8.849097019300457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            254.1393684278886,
+            132.10610038369282,
+            -8.849097019300457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            255.6393684278886,
+            134.70417659504614,
+            -8.849097019300457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            257.1393684278886,
+            137.30225280639945,
+            -8.849097019300457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            258.6393684278886,
+            139.90032901775277,
+            -8.849097019300457
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            258.26647663116455,
+            142.7095600128174,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-11-57_428674782/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-11-57_428674782/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..154c751db603c586e3dd55f463187a074ecee1d4
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-11-57_428674782/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -79.18941242006558,
+            -696.5900942909169,
+            -5.490221633162845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -76.18941242006558,
+            -696.5900942909169,
+            -5.490221633162845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -73.18941242006558,
+            -696.5900942909169,
+            -5.490221633162845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -70.18941242006558,
+            -696.5900942909169,
+            -5.490221633162845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -67.18941242006558,
+            -696.5900942909169,
+            -5.490221633162845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -64.18941242006558,
+            -696.5900942909169,
+            -5.490221633162845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -61.18941242006558,
+            -696.5900942909169,
+            -5.490221633162845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -58.18941242006558,
+            -696.5900942909169,
+            -5.490221633162845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -55.18941242006558,
+            -696.5900942909169,
+            -5.490221633162845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -52.18941242006558,
+            -696.5900942909169,
+            -5.490221633162845
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -52.18941242006558,
+            -696.5900942909169,
+            -5.490221633162845
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -52.18941242006558,
+            -696.5900942909169,
+            -5.490221633162845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -50.68941242006558,
+            -699.1881705022702,
+            -5.490221633162845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -49.18941242006558,
+            -701.7862467136235,
+            -5.490221633162845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -47.68941242006558,
+            -704.3843229249769,
+            -5.490221633162845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -46.18941242006558,
+            -706.9823991363303,
+            -5.490221633162845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -44.68941242006558,
+            -709.5804753476837,
+            -5.490221633162845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -43.18941242006558,
+            -712.178551559037,
+            -5.490221633162845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -41.68941242006558,
+            -714.7766277703904,
+            -5.490221633162845
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -41.68941242006558,
+            -714.7766277703904,
+            -5.490221633162845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -39.091336208712264,
+            -716.2766277703904,
+            -5.490221633162845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -36.49325999735895,
+            -717.7766277703904,
+            -5.490221633162845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -33.89518378600563,
+            -719.2766277703904,
+            -5.490221633162845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -31.297107574652316,
+            -720.7766277703904,
+            -5.490221633162845
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -28.699031363299,
+            -722.2766277703904,
+            -5.490221633162845
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -27.698616790771485,
+            -723.4622337341309,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-12-47_524135236/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-12-47_524135236/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a6e792ca7ca1237860f224ca5f397686a9493b62
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-12-47_524135236/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            717.2519685848179,
+            35.10252204990331,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            714.6538923734645,
+            33.60252204990331,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            712.0558161621111,
+            32.10252204990331,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            709.4577399507577,
+            30.602522049903307,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            706.8596637394044,
+            29.102522049903307,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            704.261587528051,
+            27.602522049903307,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            701.6635113166976,
+            26.102522049903307,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            699.0654351053442,
+            24.602522049903307,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            696.4673588939909,
+            23.102522049903307,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            693.8692826826375,
+            21.602522049903307,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            691.2712064712841,
+            20.102522049903307,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            688.6731302599308,
+            18.602522049903307,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            686.0750540485774,
+            17.102522049903307,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            683.476977837224,
+            15.602522049903307,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            680.8789016258706,
+            14.102522049903307,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            678.2808254145173,
+            12.602522049903307,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            675.6827492031639,
+            11.102522049903307,
+            -5.5128172790511085
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            675.6827492031639,
+            11.102522049903307,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            674.1827492031639,
+            8.50444583854999,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            672.6827492031639,
+            5.906369627196675,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            671.1827492031639,
+            3.308293415843359,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            669.6827492031639,
+            0.7102172044900428,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            668.1827492031639,
+            -1.8878590068632732,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            666.6827492031639,
+            -4.485935218216589,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            665.1827492031639,
+            -7.084011429569905,
+            -5.5128172790511085
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            663.6827492031639,
+            -9.682087640923221,
+            -5.5128172790511085
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            661.0575393676759,
+            -10.88031406402588,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-14-29_1049546350/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-14-29_1049546350/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..edad806a917bd7241879a3e2b9e43ac1fba6e130
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-14-29_1049546350/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -359.4296589624905,
+            -42.22724580417584,
+            -2.1576832528515517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -357.9296589624905,
+            -44.82532201552915,
+            -2.1576832528515517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -356.4296589624905,
+            -47.42339822688247,
+            -2.1576832528515517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -354.9296589624905,
+            -50.021474438235785,
+            -2.1576832528515517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -353.4296589624905,
+            -52.6195506495891,
+            -2.1576832528515517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -351.9296589624905,
+            -55.21762686094242,
+            -2.1576832528515517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -350.4296589624905,
+            -57.81570307229573,
+            -2.1576832528515517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -348.9296589624905,
+            -60.41377928364905,
+            -2.1576832528515517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -347.4296589624905,
+            -63.011855495002365,
+            -2.1576832528515517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -345.9296589624905,
+            -65.60993170635568,
+            -2.1576832528515517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -344.4296589624905,
+            -68.208007917709,
+            -2.1576832528515517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -342.9296589624905,
+            -70.80608412906231,
+            -2.1576832528515517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -341.4296589624905,
+            -73.40416034041563,
+            -2.1576832528515517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -339.9296589624905,
+            -76.00223655176895,
+            -2.1576832528515517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -338.4296589624905,
+            -78.60031276312226,
+            -2.1576832528515517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -336.9296589624905,
+            -81.19838897447558,
+            -2.1576832528515517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -335.4296589624905,
+            -83.7964651858289,
+            -2.1576832528515517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -333.9296589624905,
+            -86.39454139718221,
+            -2.1576832528515517
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -333.9296589624905,
+            -86.39454139718221,
+            -2.1576832528515517
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -333.9296589624905,
+            -86.39454139718221,
+            -2.1576832528515517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -335.4296589624905,
+            -88.99261760853553,
+            -2.1576832528515517
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -335.7922431945801,
+            -91.63226652145386,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-14-42_2134113236/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-14-42_2134113236/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..50f2715d871bf2c248bbaf8750ac490fd5333125
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-14-42_2134113236/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1453.7951016215673,
+            25.02753685330044,
+            -3.204065142657898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1452.2951016215673,
+            27.625613064653756,
+            -3.204065142657898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1450.7951016215673,
+            30.22368927600707,
+            -3.204065142657898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1449.2951016215673,
+            32.82176548736039,
+            -3.204065142657898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1447.7951016215673,
+            35.419841698713704,
+            -3.204065142657898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1446.2951016215673,
+            38.01791791006702,
+            -3.204065142657898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1444.7951016215673,
+            40.615994121420336,
+            -3.204065142657898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1443.2951016215673,
+            43.21407033277365,
+            -3.204065142657898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1441.7951016215673,
+            45.81214654412697,
+            -3.204065142657898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1440.2951016215673,
+            48.410222755480284,
+            -3.204065142657898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1438.7951016215673,
+            51.0082989668336,
+            -3.204065142657898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1437.2951016215673,
+            53.606375178186916,
+            -3.204065142657898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1435.7951016215673,
+            56.20445138954023,
+            -3.204065142657898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1434.2951016215673,
+            58.80252760089355,
+            -3.204065142657898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1432.7951016215673,
+            61.400603812246864,
+            -3.204065142657898
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1432.7951016215673,
+            61.400603812246864,
+            -3.204065142657898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1432.7951016215673,
+            64.40060381224686,
+            -3.204065142657898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1432.7951016215673,
+            67.40060381224686,
+            -3.204065142657898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1432.7951016215673,
+            70.40060381224686,
+            -3.204065142657898
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1432.7951016215673,
+            73.40060381224686,
+            -3.204065142657898
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1432.5684967041016,
+            76.17316565513612,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-33-39_1344541320/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-33-39_1344541320/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fdde0ab5b22a65537c165bd357c36a535edc8feb
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-33-39_1344541320/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            566.4731061848438,
+            -318.7408103116428,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            563.8750299734904,
+            -320.2408103116428,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            561.276953762137,
+            -321.7408103116428,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            558.6788775507837,
+            -323.2408103116428,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            556.0808013394303,
+            -324.7408103116428,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            553.4827251280769,
+            -326.2408103116428,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            550.8846489167236,
+            -327.7408103116428,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            548.2865727053702,
+            -329.2408103116428,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            545.6884964940168,
+            -330.7408103116428,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            543.0904202826634,
+            -332.2408103116428,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            540.4923440713101,
+            -333.7408103116428,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            537.8942678599567,
+            -335.2408103116428,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            535.2961916486033,
+            -336.7408103116428,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            532.69811543725,
+            -338.2408103116428,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            530.1000392258966,
+            -339.7408103116428,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            527.5019630145432,
+            -341.2408103116428,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            524.9038868031898,
+            -342.7408103116428,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            522.3058105918365,
+            -344.2408103116428,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            519.7077343804831,
+            -345.7408103116428,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            517.1096581691297,
+            -347.2408103116428,
+            -1.4114039857034104
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            517.1096581691297,
+            -347.2408103116428,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            515.6096581691297,
+            -349.8388865229961,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            514.1096581691297,
+            -352.43696273434944,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            512.6096581691297,
+            -355.03503894570275,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            511.1096581691297,
+            -357.63311515705607,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            509.6096581691297,
+            -360.2311913684094,
+            -1.4114039857034104
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            508.1096581691297,
+            -362.8292675797627,
+            -1.4114039857034104
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            507.2775932312012,
+            -365.6789970397949,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-36-34_1277511625/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-36-34_1277511625/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4c649a8c19b3af910d54b3fd8abcc891cc43dffe
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-36-34_1277511625/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1574.128127428017,
+            -64.79892643318377,
+            -3.533609940616693
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1571.5300512166637,
+            -66.29892643318377,
+            -3.533609940616693
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1568.9319750053103,
+            -67.79892643318377,
+            -3.533609940616693
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1566.333898793957,
+            -69.29892643318377,
+            -3.533609940616693
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1563.7358225826035,
+            -70.79892643318377,
+            -3.533609940616693
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1561.1377463712502,
+            -72.29892643318377,
+            -3.533609940616693
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1558.5396701598968,
+            -73.79892643318377,
+            -3.533609940616693
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1555.9415939485434,
+            -75.29892643318377,
+            -3.533609940616693
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1553.34351773719,
+            -76.79892643318377,
+            -3.533609940616693
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1550.7454415258367,
+            -78.29892643318377,
+            -3.533609940616693
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1548.1473653144833,
+            -79.79892643318377,
+            -3.533609940616693
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1545.54928910313,
+            -81.29892643318377,
+            -3.533609940616693
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1542.9512128917765,
+            -82.79892643318377,
+            -3.533609940616693
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1540.3531366804232,
+            -84.29892643318377,
+            -3.533609940616693
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1540.3531366804232,
+            -84.29892643318377,
+            -3.533609940616693
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1538.8531366804232,
+            -86.89700264453708,
+            -3.533609940616693
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1537.3531366804232,
+            -89.4950788558904,
+            -3.533609940616693
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1535.8531366804232,
+            -92.09315506724371,
+            -3.533609940616693
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1534.3531366804232,
+            -94.69123127859703,
+            -3.533609940616693
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1532.8531366804232,
+            -97.28930748995035,
+            -3.533609940616693
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1531.3531366804232,
+            -99.88738370130366,
+            -3.533609940616693
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1517.6720581054688,
+            -108.54975051879883,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-4-18_132629780/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-4-18_132629780/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a2a225066e39346376b589c75269fb17503ec992
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-4-18_132629780/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            39.01011759937709,
+            51.95187428965048,
+            -2.078305605078379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            39.01011759937709,
+            48.95187428965048,
+            -2.078305605078379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            39.01011759937709,
+            45.95187428965048,
+            -2.078305605078379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            39.01011759937709,
+            42.95187428965048,
+            -2.078305605078379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            39.01011759937709,
+            39.95187428965048,
+            -2.078305605078379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            39.01011759937709,
+            36.95187428965048,
+            -2.078305605078379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            39.01011759937709,
+            33.95187428965048,
+            -2.078305605078379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            39.01011759937709,
+            30.951874289650483,
+            -2.078305605078379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            39.01011759937709,
+            27.951874289650483,
+            -2.078305605078379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            39.01011759937709,
+            24.951874289650483,
+            -2.078305605078379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            39.01011759937709,
+            21.951874289650483,
+            -2.078305605078379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            39.01011759937709,
+            18.951874289650483,
+            -2.078305605078379
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            39.01011759937709,
+            18.951874289650483,
+            -2.078305605078379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            37.51011759937709,
+            16.353798078297167,
+            -2.078305605078379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            36.01011759937709,
+            13.755721866943851,
+            -2.078305605078379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            34.51011759937709,
+            11.157645655590535,
+            -2.078305605078379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            33.01011759937709,
+            8.55956944423722,
+            -2.078305605078379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            31.51011759937709,
+            5.961493232883903,
+            -2.078305605078379
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            30.01011759937709,
+            3.363417021530587,
+            -2.078305605078379
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            31.34878616333008,
+            1.572951889038086,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-42-56_1975886384/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-42-56_1975886384/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..02ba99d056631d925d8346bef25217fdd718247a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-42-56_1975886384/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -90.14621445914106,
+            183.93394955682282,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -88.64621445914106,
+            181.3358733454695,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -87.14621445914106,
+            178.7377971341162,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -85.64621445914106,
+            176.13972092276288,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -84.14621445914106,
+            173.54164471140956,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -82.64621445914106,
+            170.94356850005624,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -81.14621445914106,
+            168.34549228870293,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -79.64621445914106,
+            165.7474160773496,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -78.14621445914106,
+            163.1493398659963,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -76.64621445914106,
+            160.55126365464298,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -75.14621445914106,
+            157.95318744328966,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -73.64621445914106,
+            155.35511123193635,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -72.14621445914106,
+            152.75703502058303,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -70.64621445914106,
+            150.15895880922972,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -69.14621445914106,
+            147.5608825978764,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -67.64621445914106,
+            144.96280638652308,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -66.14621445914106,
+            142.36473017516977,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -64.64621445914106,
+            139.76665396381645,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -63.14621445914106,
+            137.16857775246314,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -61.64621445914106,
+            134.57050154110982,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -60.14621445914106,
+            131.9724253297565,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -58.64621445914106,
+            129.3743491184032,
+            -6.696921149864422
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -58.64621445914106,
+            129.3743491184032,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -58.64621445914106,
+            126.37434911840319,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -58.64621445914106,
+            123.37434911840319,
+            -6.696921149864422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -58.64621445914106,
+            120.37434911840319,
+            -6.696921149864422
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -58.67859439849854,
+            118.20751323699952,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-46-3_435482362/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-46-3_435482362/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..91d4ccbabfe846a645439be0b8d15178138bd742
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-46-3_435482362/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1244.412974549833,
+            170.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1244.412974549833,
+            173.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1244.412974549833,
+            176.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1244.412974549833,
+            179.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1244.412974549833,
+            182.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1244.412974549833,
+            185.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1244.412974549833,
+            188.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1244.412974549833,
+            191.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1244.412974549833,
+            194.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1244.412974549833,
+            197.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1244.412974549833,
+            200.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1244.412974549833,
+            203.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1244.412974549833,
+            206.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1244.412974549833,
+            209.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1244.412974549833,
+            212.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1244.412974549833,
+            215.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1244.412974549833,
+            218.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1244.412974549833,
+            221.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1244.412974549833,
+            224.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1244.412974549833,
+            227.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1244.412974549833,
+            230.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1244.412974549833,
+            233.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1244.412974549833,
+            236.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1244.412974549833,
+            239.73249149061942,
+            -9.15523712304993
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1243.735294342041,
+            241.00056648254397,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-5-39_110341087/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-5-39_110341087/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c75d7cb652310fc1328625fc2ad5433b9c99bde9
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-5-39_110341087/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -387.02810961349735,
+            -42.066471794382494,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -385.52810961349735,
+            -44.66454800573581,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -384.02810961349735,
+            -47.262624217089126,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -382.52810961349735,
+            -49.86070042844244,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -381.02810961349735,
+            -52.45877663979576,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -379.52810961349735,
+            -55.056852851149074,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -378.02810961349735,
+            -57.65492906250239,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -376.52810961349735,
+            -60.253005273855706,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -375.02810961349735,
+            -62.85108148520902,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -373.52810961349735,
+            -65.44915769656234,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -372.02810961349735,
+            -68.04723390791565,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -370.52810961349735,
+            -70.64531011926897,
+            -3.9359681896548606
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -370.52810961349735,
+            -70.64531011926897,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -367.93003340214403,
+            -72.14531011926897,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -365.3319571907907,
+            -73.64531011926897,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -362.7338809794374,
+            -75.14531011926897,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -360.1358047680841,
+            -76.64531011926897,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -357.53772855673077,
+            -78.14531011926897,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -354.93965234537745,
+            -79.64531011926897,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -352.34157613402414,
+            -81.14531011926897,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -349.7434999226708,
+            -82.64531011926897,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -347.1454237113175,
+            -84.14531011926897,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -344.5473474999642,
+            -85.64531011926897,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -341.9492712886109,
+            -87.14531011926897,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -339.35119507725756,
+            -88.64531011926897,
+            -3.9359681896548606
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -336.75311886590424,
+            -90.14531011926897,
+            -3.9359681896548606
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -335.7922431945801,
+            -91.63226652145386,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-55-57_1954771801/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-55-57_1954771801/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1cc56879a4cd3623e7c2ed4650cba17ed890f40a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-55-57_1954771801/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1530.9073727668726,
+            -183.03084953022062,
+            -0.06576520842019562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1530.9073727668726,
+            -180.03084953022062,
+            -0.06576520842019562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1530.9073727668726,
+            -177.03084953022062,
+            -0.06576520842019562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1530.9073727668726,
+            -174.03084953022062,
+            -0.06576520842019562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1530.9073727668726,
+            -171.03084953022062,
+            -0.06576520842019562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1530.9073727668726,
+            -168.03084953022062,
+            -0.06576520842019562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1530.9073727668726,
+            -165.03084953022062,
+            -0.06576520842019562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1530.9073727668726,
+            -162.03084953022062,
+            -0.06576520842019562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1530.9073727668726,
+            -159.03084953022062,
+            -0.06576520842019562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1530.9073727668726,
+            -156.03084953022062,
+            -0.06576520842019562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1530.9073727668726,
+            -153.03084953022062,
+            -0.06576520842019562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1530.9073727668726,
+            -150.03084953022062,
+            -0.06576520842019562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1530.9073727668726,
+            -147.03084953022062,
+            -0.06576520842019562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1530.9073727668726,
+            -144.03084953022062,
+            -0.06576520842019562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1530.9073727668726,
+            -141.03084953022062,
+            -0.06576520842019562
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1530.9073727668726,
+            -141.03084953022062,
+            -0.06576520842019562
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1530.9073727668726,
+            -141.03084953022062,
+            -0.06576520842019562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1528.3092965555193,
+            -139.53084953022062,
+            -0.06576520842019562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1525.711220344166,
+            -138.03084953022062,
+            -0.06576520842019562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1523.1131441328125,
+            -136.53084953022062,
+            -0.06576520842019562
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1517.6720581054688,
+            -108.54975051879883,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-56-42_1137990260/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-56-42_1137990260/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8303dd9ba4e2eeda7601b1b2662100aeaba14b3e
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-56-42_1137990260/pose.jsonl
@@ -0,0 +1,391 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            176.93896043370873,
+            236.42155643707724,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            179.53703664506205,
+            234.92155643707724,
+            -8.92854222169224
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            179.53703664506205,
+            234.92155643707724,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            181.03703664506205,
+            232.32348022572393,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            182.53703664506205,
+            229.7254040143706,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            184.03703664506205,
+            227.1273278030173,
+            -8.92854222169224
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            184.03703664506205,
+            227.1273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            186.63511285641536,
+            225.6273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            189.23318906776868,
+            224.1273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            191.831265279122,
+            222.6273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            194.4293414904753,
+            221.1273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            197.02741770182863,
+            219.6273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            199.62549391318194,
+            218.1273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            202.22357012453526,
+            216.6273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            204.82164633588857,
+            215.1273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            207.4197225472419,
+            213.6273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            210.0177987585952,
+            212.1273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            212.61587496994852,
+            210.6273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            215.21395118130184,
+            209.1273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            217.81202739265515,
+            207.6273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            220.41010360400847,
+            206.1273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            223.00817981536179,
+            204.6273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            225.6062560267151,
+            203.1273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            228.20433223806842,
+            201.6273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            230.80240844942173,
+            200.1273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            233.40048466077505,
+            198.6273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            235.99856087212837,
+            197.1273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            238.59663708348168,
+            195.6273278030173,
+            -8.92854222169224
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            241.194713294835,
+            194.1273278030173,
+            -8.92854222169224
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            243.237640953064,
+            194.2933292388916,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-57-30_434492631/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-57-30_434492631/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1ab7b4e498a2a5d52bb42bdb5aefc813bad1c61a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-57-30_434492631/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            44.23222183516555,
+            -467.0705893543691,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            45.73222183516555,
+            -464.47251314301576,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            47.23222183516555,
+            -461.87443693166244,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            48.73222183516555,
+            -459.2763607203091,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            50.23222183516555,
+            -456.6782845089558,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            51.73222183516555,
+            -454.0802082976025,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            53.23222183516555,
+            -451.4821320862492,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            54.73222183516555,
+            -448.88405587489586,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            56.23222183516555,
+            -446.28597966354255,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            57.73222183516555,
+            -443.68790345218923,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            59.23222183516555,
+            -441.0898272408359,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            60.73222183516555,
+            -438.4917510294826,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            62.23222183516555,
+            -435.8936748181293,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            63.73222183516555,
+            -433.29559860677597,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            65.23222183516555,
+            -430.69752239542265,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            66.73222183516555,
+            -428.09944618406934,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            68.23222183516555,
+            -425.501369972716,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            69.73222183516555,
+            -422.9032937613627,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            71.23222183516555,
+            -420.3052175500094,
+            -4.8039974002568595
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            71.23222183516555,
+            -420.3052175500094,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            73.83029804651886,
+            -418.8052175500094,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            76.42837425787218,
+            -417.3052175500094,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            79.0264504692255,
+            -415.8052175500094,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            81.62452668057881,
+            -414.3052175500094,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            84.22260289193213,
+            -412.8052175500094,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            86.82067910328544,
+            -411.3052175500094,
+            -4.8039974002568595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            89.41875531463876,
+            -409.8052175500094,
+            -4.8039974002568595
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            90.3713176727295,
+            -405.9313674926758,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-8-19_855320512/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-8-19_855320512/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..69e6f566c8236f90461a881a6b4d69530369bec0
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-8-19_855320512/pose.jsonl
@@ -0,0 +1,196 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            356.1416023578834,
+            -420.3440978757964,
+            -7.100657994832766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            359.1416023578834,
+            -420.3440978757964,
+            -7.100657994832766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            362.1416023578834,
+            -420.3440978757964,
+            -7.100657994832766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            365.1416023578834,
+            -420.3440978757964,
+            -7.100657994832766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            368.1416023578834,
+            -420.3440978757964,
+            -7.100657994832766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            371.1416023578834,
+            -420.3440978757964,
+            -7.100657994832766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            374.1416023578834,
+            -420.3440978757964,
+            -7.100657994832766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            377.1416023578834,
+            -420.3440978757964,
+            -7.100657994832766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            380.1416023578834,
+            -420.3440978757964,
+            -7.100657994832766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            383.1416023578834,
+            -420.3440978757964,
+            -7.100657994832766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            386.1416023578834,
+            -420.3440978757964,
+            -7.100657994832766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            389.1416023578834,
+            -420.3440978757964,
+            -7.100657994832766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            392.1416023578834,
+            -420.3440978757964,
+            -7.100657994832766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            395.1416023578834,
+            -420.3440978757964,
+            -7.100657994832766
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            410.6194187164307,
+            -422.415909576416,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-14-8_2128349144/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-14-8_2128349144/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9a05aee856f2ecbb7dc3a8e6e8ba6e4f445fac38
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-14-8_2128349144/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -190.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -193.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -196.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -199.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -202.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -205.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -208.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -211.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -214.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -217.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -220.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -223.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -226.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -229.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -232.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -235.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -238.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -241.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -244.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -247.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -250.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -250.82088429934697,
+            51.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -253.4189605107003,
+            50.23656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -256.0170367220536,
+            48.73656188021428,
+            -0.040599566463367154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -258.6151129334069,
+            47.23656188021428,
+            -0.040599566463367154
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -259.2387418746948,
+            45.236197376251226,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-19-49_1102713256/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-19-49_1102713256/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f82f250fadb466dfc5a4d07efabf7d7d9ee12dff
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-19-49_1102713256/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            52.65068289883346,
+            -117.37513409047347,
+            -8.528551032974383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            51.15068289883346,
+            -114.77705787912015,
+            -8.528551032974383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            49.65068289883346,
+            -112.17898166776683,
+            -8.528551032974383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            48.15068289883346,
+            -109.58090545641352,
+            -8.528551032974383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            46.65068289883346,
+            -106.9828292450602,
+            -8.528551032974383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            45.15068289883346,
+            -104.38475303370689,
+            -8.528551032974383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            43.65068289883346,
+            -101.78667682235357,
+            -8.528551032974383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            42.15068289883346,
+            -99.18860061100025,
+            -8.528551032974383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            40.65068289883346,
+            -96.59052439964694,
+            -8.528551032974383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            39.15068289883346,
+            -93.99244818829362,
+            -8.528551032974383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            37.65068289883346,
+            -91.3943719769403,
+            -8.528551032974383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            36.15068289883346,
+            -88.79629576558699,
+            -8.528551032974383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            34.65068289883346,
+            -86.19821955423367,
+            -8.528551032974383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            33.15068289883346,
+            -83.60014334288036,
+            -8.528551032974383
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            33.15068289883346,
+            -83.60014334288036,
+            -8.528551032974383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            30.552606687480143,
+            -82.10014334288036,
+            -8.528551032974383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            27.954530476126827,
+            -80.60014334288036,
+            -8.528551032974383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            25.35645426477351,
+            -79.10014334288036,
+            -8.528551032974383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            22.758378053420195,
+            -77.60014334288036,
+            -8.528551032974383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            20.16030184206688,
+            -76.10014334288036,
+            -8.528551032974383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            17.562225630713563,
+            -74.60014334288036,
+            -8.528551032974383
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            17.12450046539307,
+            -73.06071357727052,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-2-34_1066075704/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-2-34_1066075704/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a52308b9bdc27c50a664dfa5fd5bb4a27a36b451
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-2-34_1066075704/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1369.2546724388926,
+            -271.95362739765267,
+            -4.99599227618691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1367.7546724388926,
+            -269.35555118629935,
+            -4.99599227618691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1366.2546724388926,
+            -266.75747497494604,
+            -4.99599227618691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1364.7546724388926,
+            -264.1593987635927,
+            -4.99599227618691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1363.2546724388926,
+            -261.5613225522394,
+            -4.99599227618691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1361.7546724388926,
+            -258.9632463408861,
+            -4.99599227618691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1360.2546724388926,
+            -256.36517012953277,
+            -4.99599227618691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1358.7546724388926,
+            -253.76709391817946,
+            -4.99599227618691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1357.2546724388926,
+            -251.16901770682614,
+            -4.99599227618691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1355.7546724388926,
+            -248.57094149547282,
+            -4.99599227618691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1354.2546724388926,
+            -245.9728652841195,
+            -4.99599227618691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1352.7546724388926,
+            -243.3747890727662,
+            -4.99599227618691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1351.2546724388926,
+            -240.77671286141288,
+            -4.99599227618691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1349.7546724388926,
+            -238.17863665005956,
+            -4.99599227618691
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1349.7546724388926,
+            -238.17863665005956,
+            -4.99599227618691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1347.1565962275392,
+            -236.67863665005956,
+            -4.99599227618691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1344.5585200161859,
+            -235.17863665005956,
+            -4.99599227618691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1341.9604438048325,
+            -233.67863665005956,
+            -4.99599227618691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1339.3623675934791,
+            -232.17863665005956,
+            -4.99599227618691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1336.7642913821257,
+            -230.67863665005956,
+            -4.99599227618691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1334.1662151707724,
+            -229.17863665005956,
+            -4.99599227618691
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1332.318264770508,
+            -228.70366058349612,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-22-14_1367743294/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-22-14_1367743294/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..09f43246dfec78c5f7a22a6fb4b3815c364e1cf3
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-22-14_1367743294/pose.jsonl
@@ -0,0 +1,92 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1100.9996577487793,
+            -179.2843231368632,
+            -2.4780467640722907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1099.4996577487793,
+            -181.88239934821652,
+            -2.4780467640722907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1097.9996577487793,
+            -184.48047555956984,
+            -2.4780467640722907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1096.4996577487793,
+            -187.07855177092316,
+            -2.4780467640722907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1094.9996577487793,
+            -189.67662798227647,
+            -2.4780467640722907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1093.4996577487793,
+            -192.2747041936298,
+            -2.4780467640722907
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1078.2823501586915,
+            -224.4462232589722,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-35-3_913454833/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-35-3_913454833/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..309622060f94edac1c8ed5a98a63b6ddfbb00f79
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-35-3_913454833/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -55.64188773618374,
+            -438.8578090516684,
+            -1.6282668196175205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -53.043811524830424,
+            -440.3578090516684,
+            -1.6282668196175205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -50.44573531347711,
+            -441.8578090516684,
+            -1.6282668196175205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -47.84765910212379,
+            -443.3578090516684,
+            -1.6282668196175205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -45.249582890770476,
+            -444.8578090516684,
+            -1.6282668196175205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -42.65150667941716,
+            -446.3578090516684,
+            -1.6282668196175205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -40.053430468063844,
+            -447.8578090516684,
+            -1.6282668196175205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -37.45535425671053,
+            -449.3578090516684,
+            -1.6282668196175205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -34.85727804535721,
+            -450.8578090516684,
+            -1.6282668196175205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -32.259201834003896,
+            -452.3578090516684,
+            -1.6282668196175205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -29.66112562265058,
+            -453.8578090516684,
+            -1.6282668196175205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -27.063049411297264,
+            -455.3578090516684,
+            -1.6282668196175205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -24.464973199943948,
+            -456.8578090516684,
+            -1.6282668196175205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -21.866896988590632,
+            -458.3578090516684,
+            -1.6282668196175205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -19.268820777237316,
+            -459.8578090516684,
+            -1.6282668196175205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -16.670744565884,
+            -461.3578090516684,
+            -1.6282668196175205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -14.072668354530684,
+            -462.8578090516684,
+            -1.6282668196175205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -11.474592143177368,
+            -464.3578090516684,
+            -1.6282668196175205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -8.876515931824052,
+            -465.8578090516684,
+            -1.6282668196175205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -6.278439720470736,
+            -467.3578090516684,
+            -1.6282668196175205
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -3.1689678192138673,
+            -469.5184967041016,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-40-57_70298129/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-40-57_70298129/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4f3a8ea17d5b2778a971b32c7b6775b5e5f4380a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-40-57_70298129/pose.jsonl
@@ -0,0 +1,248 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            354.22243336513424,
+            -449.8880252427508,
+            -9.895554350005092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            356.82050957648755,
+            -448.3880252427508,
+            -9.895554350005092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            359.41858578784087,
+            -446.8880252427508,
+            -9.895554350005092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            362.0166619991942,
+            -445.3880252427508,
+            -9.895554350005092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            364.6147382105475,
+            -443.8880252427508,
+            -9.895554350005092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            367.2128144219008,
+            -442.3880252427508,
+            -9.895554350005092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            369.81089063325413,
+            -440.8880252427508,
+            -9.895554350005092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            372.40896684460745,
+            -439.3880252427508,
+            -9.895554350005092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            375.00704305596076,
+            -437.8880252427508,
+            -9.895554350005092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            377.6051192673141,
+            -436.3880252427508,
+            -9.895554350005092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            380.2031954786674,
+            -434.8880252427508,
+            -9.895554350005092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            382.8012716900207,
+            -433.3880252427508,
+            -9.895554350005092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            385.39934790137403,
+            -431.8880252427508,
+            -9.895554350005092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            387.99742411272734,
+            -430.3880252427508,
+            -9.895554350005092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            390.59550032408066,
+            -428.8880252427508,
+            -9.895554350005092
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            390.59550032408066,
+            -428.8880252427508,
+            -9.895554350005092
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            390.59550032408066,
+            -428.8880252427508,
+            -9.895554350005092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            393.193576535434,
+            -430.3880252427508,
+            -9.895554350005092
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            410.6194187164307,
+            -422.415909576416,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-45-50_1222343444/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-45-50_1222343444/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4eac64396bf589ba5d0afa53e566fab0b13af920
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-45-50_1222343444/pose.jsonl
@@ -0,0 +1,196 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            269.22188470040714,
+            -160.9333256840843,
+            -1.0518620127385443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            271.81996091176046,
+            -159.4333256840843,
+            -1.0518620127385443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            274.4180371231138,
+            -157.9333256840843,
+            -1.0518620127385443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            277.0161133344671,
+            -156.4333256840843,
+            -1.0518620127385443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            279.6141895458204,
+            -154.9333256840843,
+            -1.0518620127385443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            282.2122657571737,
+            -153.4333256840843,
+            -1.0518620127385443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            284.81034196852704,
+            -151.9333256840843,
+            -1.0518620127385443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            287.40841817988036,
+            -150.4333256840843,
+            -1.0518620127385443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            290.0064943912337,
+            -148.9333256840843,
+            -1.0518620127385443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            292.604570602587,
+            -147.4333256840843,
+            -1.0518620127385443
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            292.604570602587,
+            -147.4333256840843,
+            -1.0518620127385443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            295.604570602587,
+            -147.4333256840843,
+            -1.0518620127385443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            298.604570602587,
+            -147.4333256840843,
+            -1.0518620127385443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            301.604570602587,
+            -147.4333256840843,
+            -1.0518620127385443
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            320.9684103012085,
+            -137.41820926666261,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-51-15_919121924/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-51-15_919121924/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fee21fdb040ba9996788503ff3cfcbe28715857d
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-51-15_919121924/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            83.71365424400747,
+            -500.30299558715245,
+            -1.1479162162382988
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            85.21365424400747,
+            -502.90107179850577,
+            -1.1479162162382988
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            86.71365424400747,
+            -505.4991480098591,
+            -1.1479162162382988
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            88.21365424400747,
+            -508.0972242212124,
+            -1.1479162162382988
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            89.71365424400747,
+            -510.6953004325657,
+            -1.1479162162382988
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            91.21365424400747,
+            -513.293376643919,
+            -1.1479162162382988
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            92.71365424400747,
+            -515.8914528552723,
+            -1.1479162162382988
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            94.21365424400747,
+            -518.4895290666257,
+            -1.1479162162382988
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            95.71365424400747,
+            -521.087605277979,
+            -1.1479162162382988
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            97.21365424400747,
+            -523.6856814893324,
+            -1.1479162162382988
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            97.21365424400747,
+            -523.6856814893324,
+            -1.1479162162382988
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            99.81173045536079,
+            -525.1856814893324,
+            -1.1479162162382988
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            102.4098066667141,
+            -526.6856814893324,
+            -1.1479162162382988
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            105.00788287806742,
+            -528.1856814893324,
+            -1.1479162162382988
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            107.60595908942074,
+            -529.6856814893324,
+            -1.1479162162382988
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            110.20403530077405,
+            -531.1856814893324,
+            -1.1479162162382988
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            112.80211151212737,
+            -532.6856814893324,
+            -1.1479162162382988
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            115.40018772348068,
+            -534.1856814893324,
+            -1.1479162162382988
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            117.998263934834,
+            -535.6856814893324,
+            -1.1479162162382988
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            120.59634014618732,
+            -537.1856814893324,
+            -1.1479162162382988
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            120.59634014618732,
+            -537.1856814893324,
+            -1.1479162162382988
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            122.09634014618732,
+            -539.7837577006858,
+            -1.1479162162382988
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            123.59634014618732,
+            -542.3818339120392,
+            -1.1479162162382988
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            125.09634014618732,
+            -544.9799101233925,
+            -1.1479162162382988
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            127.09756164550782,
+            -547.6103538513185,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-31-16_1779664872/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-31-16_1779664872/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..78aa2f672e4760f57b7ef3cc5dfbc30d5d4a6f3a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-31-16_1779664872/pose.jsonl
@@ -0,0 +1,209 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1047.796326986959,
+            -167.1086019220578,
+            -5.718149639153669
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1049.296326986959,
+            -169.70667813341112,
+            -5.718149639153669
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1050.796326986959,
+            -172.30475434476443,
+            -5.718149639153669
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1052.296326986959,
+            -174.90283055611775,
+            -5.718149639153669
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1053.796326986959,
+            -177.50090676747106,
+            -5.718149639153669
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1055.296326986959,
+            -180.09898297882438,
+            -5.718149639153669
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1056.796326986959,
+            -182.6970591901777,
+            -5.718149639153669
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1058.296326986959,
+            -185.295135401531,
+            -5.718149639153669
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1059.796326986959,
+            -187.89321161288433,
+            -5.718149639153669
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1061.296326986959,
+            -190.49128782423765,
+            -5.718149639153669
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1062.796326986959,
+            -193.08936403559096,
+            -5.718149639153669
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1064.296326986959,
+            -195.68744024694428,
+            -5.718149639153669
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1065.796326986959,
+            -198.2855164582976,
+            -5.718149639153669
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1067.296326986959,
+            -200.8835926696509,
+            -5.718149639153669
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1068.796326986959,
+            -203.48166888100423,
+            -5.718149639153669
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1078.2823501586915,
+            -224.4462232589722,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-33-52_1297046355/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-33-52_1297046355/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ed3ace47601aba69f78a9d9f1672b4aea687298c
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-33-52_1297046355/pose.jsonl
@@ -0,0 +1,248 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            336.34432890123594,
+            -49.91343625057958,
+            -7.86401171844904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            333.7462526898826,
+            -51.41343625057958,
+            -7.86401171844904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            331.1481764785293,
+            -52.91343625057958,
+            -7.86401171844904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            328.550100267176,
+            -54.41343625057958,
+            -7.86401171844904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            325.9520240558227,
+            -55.91343625057958,
+            -7.86401171844904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            323.35394784446936,
+            -57.41343625057958,
+            -7.86401171844904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            320.75587163311604,
+            -58.91343625057958,
+            -7.86401171844904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            318.1577954217627,
+            -60.41343625057958,
+            -7.86401171844904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            315.5597192104094,
+            -61.91343625057958,
+            -7.86401171844904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            312.9616429990561,
+            -63.41343625057958,
+            -7.86401171844904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            310.3635667877028,
+            -64.91343625057958,
+            -7.86401171844904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            307.76549057634946,
+            -66.41343625057958,
+            -7.86401171844904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            305.16741436499615,
+            -67.91343625057958,
+            -7.86401171844904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            302.56933815364283,
+            -69.41343625057958,
+            -7.86401171844904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            299.9712619422895,
+            -70.91343625057958,
+            -7.86401171844904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            297.3731857309362,
+            -72.41343625057958,
+            -7.86401171844904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            294.7751095195829,
+            -73.91343625057958,
+            -7.86401171844904
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            292.17703330822957,
+            -75.41343625057958,
+            -7.86401171844904
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            283.9780300140381,
+            -80.94869422912598,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-39-50_245491186/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-39-50_245491186/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fe54a77f2acb1d8726258b16a29e1113541ee44e
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-39-50_245491186/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            555.0663944574577,
+            269.6691226093499,
+            -5.86412213114265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            552.0663944574577,
+            269.6691226093499,
+            -5.86412213114265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            549.0663944574577,
+            269.6691226093499,
+            -5.86412213114265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            546.0663944574577,
+            269.6691226093499,
+            -5.86412213114265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            543.0663944574577,
+            269.6691226093499,
+            -5.86412213114265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            540.0663944574577,
+            269.6691226093499,
+            -5.86412213114265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            537.0663944574577,
+            269.6691226093499,
+            -5.86412213114265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            534.0663944574577,
+            269.6691226093499,
+            -5.86412213114265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            531.0663944574577,
+            269.6691226093499,
+            -5.86412213114265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            528.0663944574577,
+            269.6691226093499,
+            -5.86412213114265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            525.0663944574577,
+            269.6691226093499,
+            -5.86412213114265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            522.0663944574577,
+            269.6691226093499,
+            -5.86412213114265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            519.0663944574577,
+            269.6691226093499,
+            -5.86412213114265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            516.0663944574577,
+            269.6691226093499,
+            -5.86412213114265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            513.0663944574577,
+            269.6691226093499,
+            -5.86412213114265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            510.0663944574577,
+            269.6691226093499,
+            -5.86412213114265
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            510.0663944574577,
+            269.6691226093499,
+            -5.86412213114265
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            510.0663944574577,
+            269.6691226093499,
+            -5.86412213114265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            508.5663944574577,
+            272.26719882070324,
+            -5.86412213114265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            507.0663944574577,
+            274.86527503205656,
+            -5.86412213114265
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            507.0663944574577,
+            274.86527503205656,
+            -5.86412213114265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            504.4683182461044,
+            276.36527503205656,
+            -5.86412213114265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            501.8702420347511,
+            277.86527503205656,
+            -5.86412213114265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            499.27216582339776,
+            279.36527503205656,
+            -5.86412213114265
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            498.19472236633305,
+            281.0884632110596,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-41-56_739068399/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-41-56_739068399/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..992f7713ee6357e7f965935d5985dee2337a9342
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-41-56_739068399/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1351.7705735679033,
+            264.4572351982012,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1350.2705735679033,
+            261.8591589868479,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1348.7705735679033,
+            259.2610827754946,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1347.2705735679033,
+            256.66300656414126,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1345.7705735679033,
+            254.06493035278794,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1344.2705735679033,
+            251.46685414143462,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1342.7705735679033,
+            248.8687779300813,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1341.2705735679033,
+            246.270701718728,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1339.7705735679033,
+            243.67262550737468,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1338.2705735679033,
+            241.07454929602136,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1336.7705735679033,
+            238.47647308466804,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1335.2705735679033,
+            235.87839687331473,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1333.7705735679033,
+            233.2803206619614,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1332.2705735679033,
+            230.6822444506081,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1330.7705735679033,
+            228.08416823925478,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1329.2705735679033,
+            225.48609202790146,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1327.7705735679033,
+            222.88801581654815,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1326.2705735679033,
+            220.28993960519483,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1324.7705735679033,
+            217.69186339384152,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1323.2705735679033,
+            215.0937871824882,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1321.7705735679033,
+            212.49571097113488,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1320.2705735679033,
+            209.89763475978157,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1318.7705735679033,
+            207.29955854842825,
+            -9.76323540103365
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1318.7705735679033,
+            207.29955854842825,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1318.7705735679033,
+            204.29955854842825,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1318.7705735679033,
+            201.29955854842825,
+            -9.76323540103365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1318.7705735679033,
+            198.29955854842825,
+            -9.76323540103365
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1318.4154022216799,
+            197.2680404663086,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-2-59_1317875109/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-2-59_1317875109/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ad5f4bd9e867d31ec5fd6d7c6874626870665f55
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-2-59_1317875109/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -10.01498242397808,
+            -37.1233385109721,
+            -8.136933162866066
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -8.51498242397808,
+            -34.52526229961878,
+            -8.136933162866066
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -7.014982423978079,
+            -31.927186088265465,
+            -8.136933162866066
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -5.514982423978079,
+            -29.32910987691215,
+            -8.136933162866066
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -4.014982423978079,
+            -26.731033665558833,
+            -8.136933162866066
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -2.5149824239780787,
+            -24.132957454205517,
+            -8.136933162866066
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1.0149824239780783,
+            -21.5348812428522,
+            -8.136933162866066
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            0.4850175760219222,
+            -18.936805031498885,
+            -8.136933162866066
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1.9850175760219226,
+            -16.33872882014557,
+            -8.136933162866066
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            3.485017576021923,
+            -13.740652608792253,
+            -8.136933162866066
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            3.485017576021923,
+            -13.740652608792253,
+            -8.136933162866066
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            6.083093787375239,
+            -12.240652608792253,
+            -8.136933162866066
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            8.681169998728555,
+            -10.740652608792253,
+            -8.136933162866066
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            11.27924621008187,
+            -9.240652608792253,
+            -8.136933162866066
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            13.877322421435187,
+            -7.740652608792253,
+            -8.136933162866066
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            16.475398632788504,
+            -6.240652608792253,
+            -8.136933162866066
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982986
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            19.07347484414182,
+            -4.740652608792253,
+            -8.136933162866066
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            21.671551055495136,
+            -3.240652608792253,
+            -8.136933162866066
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            24.269627266848453,
+            -1.7406526087922531,
+            -8.136933162866066
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            26.86770347820177,
+            -0.24065260879225336,
+            -8.136933162866066
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            29.465779689555085,
+            1.2593473912077464,
+            -8.136933162866066
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            31.34878616333008,
+            1.572951889038086,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-25-15_475745488/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-25-15_475745488/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a27aa56c9753f11be71e9848578012b204166db1
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-25-15_475745488/pose.jsonl
@@ -0,0 +1,248 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            224.5509027721295,
+            240.98922025800354,
+            -9.63029374014359
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            226.0509027721295,
+            238.39114404665023,
+            -9.63029374014359
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            227.5509027721295,
+            235.7930678352969,
+            -9.63029374014359
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            229.0509027721295,
+            233.1949916239436,
+            -9.63029374014359
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            230.5509027721295,
+            230.59691541259028,
+            -9.63029374014359
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            232.0509027721295,
+            227.99883920123696,
+            -9.63029374014359
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            233.5509027721295,
+            225.40076298988365,
+            -9.63029374014359
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            235.0509027721295,
+            222.80268677853033,
+            -9.63029374014359
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            236.5509027721295,
+            220.204610567177,
+            -9.63029374014359
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            238.0509027721295,
+            217.6065343558237,
+            -9.63029374014359
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            239.5509027721295,
+            215.00845814447038,
+            -9.63029374014359
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            241.0509027721295,
+            212.41038193311707,
+            -9.63029374014359
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            241.0509027721295,
+            212.41038193311707,
+            -9.63029374014359
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            241.0509027721295,
+            209.41038193311707,
+            -9.63029374014359
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            241.0509027721295,
+            206.41038193311707,
+            -9.63029374014359
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            241.0509027721295,
+            203.41038193311707,
+            -9.63029374014359
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            241.0509027721295,
+            200.41038193311707,
+            -9.63029374014359
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            241.0509027721295,
+            197.41038193311707,
+            -9.63029374014359
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            243.237640953064,
+            194.2933292388916,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-3-38_2081063046/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-3-38_2081063046/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..54dcedceab23c3902f1a38040df386b9a08c77e7
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-3-38_2081063046/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1327.1148152235162,
+            -35.52537423161949,
+            -0.3487784559804741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1329.7128914348696,
+            -37.02537423161949,
+            -0.3487784559804741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1332.310967646223,
+            -38.52537423161949,
+            -0.3487784559804741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1334.9090438575763,
+            -40.02537423161949,
+            -0.3487784559804741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1337.5071200689297,
+            -41.52537423161949,
+            -0.3487784559804741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1340.105196280283,
+            -43.02537423161949,
+            -0.3487784559804741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1342.7032724916364,
+            -44.52537423161949,
+            -0.3487784559804741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1345.3013487029898,
+            -46.02537423161949,
+            -0.3487784559804741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1347.8994249143432,
+            -47.52537423161949,
+            -0.3487784559804741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1350.4975011256965,
+            -49.02537423161949,
+            -0.3487784559804741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1353.09557733705,
+            -50.52537423161949,
+            -0.3487784559804741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1355.6936535484033,
+            -52.02537423161949,
+            -0.3487784559804741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1358.2917297597567,
+            -53.52537423161949,
+            -0.3487784559804741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1360.88980597111,
+            -55.02537423161949,
+            -0.3487784559804741
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1360.88980597111,
+            -55.02537423161949,
+            -0.3487784559804741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1362.38980597111,
+            -57.6234504429728,
+            -0.3487784559804741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1363.88980597111,
+            -60.22152665432612,
+            -0.3487784559804741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1365.38980597111,
+            -62.819602865679435,
+            -0.3487784559804741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1366.88980597111,
+            -65.41767907703274,
+            -0.3487784559804741
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1381.41708984375,
+            -76.18637247085572,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-39-19_126794893/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-39-19_126794893/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6f6311de62558486adae2758956c549c2dd52069
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-39-19_126794893/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            393.8447214459806,
+            -535.35034965766,
+            -4.94361049601992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            396.8447214459806,
+            -535.35034965766,
+            -4.94361049601992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            399.8447214459806,
+            -535.35034965766,
+            -4.94361049601992
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            399.8447214459806,
+            -535.35034965766,
+            -4.94361049601992
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            399.8447214459806,
+            -535.35034965766,
+            -4.94361049601992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            401.3447214459806,
+            -537.9484258690134,
+            -4.94361049601992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            402.8447214459806,
+            -540.5465020803667,
+            -4.94361049601992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            404.3447214459806,
+            -543.1445782917201,
+            -4.94361049601992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            405.8447214459806,
+            -545.7426545030735,
+            -4.94361049601992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            407.3447214459806,
+            -548.3407307144269,
+            -4.94361049601992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            408.8447214459806,
+            -550.9388069257802,
+            -4.94361049601992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            410.3447214459806,
+            -553.5368831371336,
+            -4.94361049601992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            411.8447214459806,
+            -556.134959348487,
+            -4.94361049601992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            413.3447214459806,
+            -558.7330355598403,
+            -4.94361049601992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            414.8447214459806,
+            -561.3311117711937,
+            -4.94361049601992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            416.3447214459806,
+            -563.9291879825471,
+            -4.94361049601992
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            416.3447214459806,
+            -563.9291879825471,
+            -4.94361049601992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            418.9427976573339,
+            -565.4291879825471,
+            -4.94361049601992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            421.54087386868724,
+            -566.9291879825471,
+            -4.94361049601992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            424.13895008004056,
+            -568.4291879825471,
+            -4.94361049601992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            426.7370262913939,
+            -569.9291879825471,
+            -4.94361049601992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            429.3351025027472,
+            -571.4291879825471,
+            -4.94361049601992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            431.9331787141005,
+            -572.9291879825471,
+            -4.94361049601992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            434.5312549254538,
+            -574.4291879825471,
+            -4.94361049601992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            437.12933113680714,
+            -575.9291879825471,
+            -4.94361049601992
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            437.9839408874512,
+            -578.2894577026368,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-47-21_1671067660/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-47-21_1671067660/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b6192d4853d7b2064213be44ad30e1a16f51b58a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-47-21_1671067660/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            558.3700759411834,
+            -218.77290666112813,
+            -7.915537973777295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            555.3700759411834,
+            -218.77290666112813,
+            -7.915537973777295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            552.3700759411834,
+            -218.77290666112813,
+            -7.915537973777295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            549.3700759411834,
+            -218.77290666112813,
+            -7.915537973777295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            546.3700759411834,
+            -218.77290666112813,
+            -7.915537973777295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            543.3700759411834,
+            -218.77290666112813,
+            -7.915537973777295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            540.3700759411834,
+            -218.77290666112813,
+            -7.915537973777295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            537.3700759411834,
+            -218.77290666112813,
+            -7.915537973777295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            534.3700759411834,
+            -218.77290666112813,
+            -7.915537973777295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            531.3700759411834,
+            -218.77290666112813,
+            -7.915537973777295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            528.3700759411834,
+            -218.77290666112813,
+            -7.915537973777295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            525.3700759411834,
+            -218.77290666112813,
+            -7.915537973777295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            522.3700759411834,
+            -218.77290666112813,
+            -7.915537973777295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            519.3700759411834,
+            -218.77290666112813,
+            -7.915537973777295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            516.3700759411834,
+            -218.77290666112813,
+            -7.915537973777295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            513.3700759411834,
+            -218.77290666112813,
+            -7.915537973777295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            510.37007594118336,
+            -218.77290666112813,
+            -7.915537973777295
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            510.37007594118336,
+            -218.77290666112813,
+            -7.915537973777295
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            510.37007594118336,
+            -218.77290666112813,
+            -7.915537973777295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            508.87007594118336,
+            -221.37098287248145,
+            -7.915537973777295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            507.37007594118336,
+            -223.96905908383476,
+            -7.915537973777295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            505.87007594118336,
+            -226.56713529518808,
+            -7.915537973777295
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            504.37007594118336,
+            -229.1652115065414,
+            -7.915537973777295
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            485.3397609710694,
+            -231.23137340545657,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-48-36_16570124/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-48-36_16570124/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..857f263cb2c312a86ae8cb95348c374e550f17c8
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-48-36_16570124/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            328.165209017013,
+            -455.49199675292783,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            326.665209017013,
+            -458.09007296428115,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            325.165209017013,
+            -460.68814917563446,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            323.665209017013,
+            -463.2862253869878,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            322.165209017013,
+            -465.8843015983411,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            320.665209017013,
+            -468.4823778096944,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            319.165209017013,
+            -471.08045402104773,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            317.665209017013,
+            -473.67853023240104,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            316.165209017013,
+            -476.27660644375436,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            314.665209017013,
+            -478.8746826551077,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            313.165209017013,
+            -481.472758866461,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            311.665209017013,
+            -484.0708350778143,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            310.165209017013,
+            -486.6689112891676,
+            -2.8050935314477794
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            310.165209017013,
+            -486.6689112891676,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            307.5671328056597,
+            -488.1689112891676,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            304.9690565943064,
+            -489.6689112891676,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            302.37098038295306,
+            -491.1689112891676,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            299.77290417159975,
+            -492.6689112891676,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            297.17482796024643,
+            -494.1689112891676,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            294.5767517488931,
+            -495.6689112891676,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            291.9786755375398,
+            -497.1689112891676,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            289.3805993261865,
+            -498.6689112891676,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            286.78252311483317,
+            -500.1689112891676,
+            -2.8050935314477794
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            286.78252311483317,
+            -500.1689112891676,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            285.28252311483317,
+            -502.76698750052094,
+            -2.8050935314477794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            283.78252311483317,
+            -505.36506371187426,
+            -2.8050935314477794
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            283.3368732452393,
+            -507.865353012085,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-0-52_1369705107/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-0-52_1369705107/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dd33c0c0f6f5767a85c96b43f13a4961dd8b46fe
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-0-52_1369705107/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            127.86026475878936,
+            -615.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            127.86026475878936,
+            -612.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            127.86026475878936,
+            -609.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            127.86026475878936,
+            -606.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            127.86026475878936,
+            -603.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            127.86026475878936,
+            -600.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            127.86026475878936,
+            -597.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            127.86026475878936,
+            -594.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            127.86026475878936,
+            -591.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            127.86026475878936,
+            -588.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            127.86026475878936,
+            -585.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            127.86026475878936,
+            -582.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            127.86026475878936,
+            -579.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            127.86026475878936,
+            -576.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            127.86026475878936,
+            -573.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            127.86026475878936,
+            -570.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            127.86026475878936,
+            -567.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            127.86026475878936,
+            -564.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            127.86026475878936,
+            -561.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            127.86026475878936,
+            -558.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            127.86026475878936,
+            -555.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            127.86026475878936,
+            -552.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            127.86026475878936,
+            -549.1063418230987,
+            -9.213709159642455
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            127.09756164550782,
+            -547.6103538513185,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-11-25_314909341/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-11-25_314909341/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7e50d063c059ee383303d6f423eefebac9cb4294
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-11-25_314909341/pose.jsonl
@@ -0,0 +1,196 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            945.8336137157394,
+            -226.1492455506402,
+            -2.886146458160315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            944.3336137157394,
+            -228.7473217619935,
+            -2.886146458160315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            942.8336137157394,
+            -231.34539797334682,
+            -2.886146458160315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            941.3336137157394,
+            -233.94347418470014,
+            -2.886146458160315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            939.8336137157394,
+            -236.54155039605345,
+            -2.886146458160315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            938.3336137157394,
+            -239.13962660740677,
+            -2.886146458160315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            936.8336137157394,
+            -241.73770281876008,
+            -2.886146458160315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            935.3336137157394,
+            -244.3357790301134,
+            -2.886146458160315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            933.8336137157394,
+            -246.93385524146672,
+            -2.886146458160315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            932.3336137157394,
+            -249.53193145282003,
+            -2.886146458160315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            930.8336137157394,
+            -252.13000766417335,
+            -2.886146458160315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            929.3336137157394,
+            -254.72808387552666,
+            -2.886146458160315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            927.8336137157394,
+            -257.32616008688,
+            -2.886146458160315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393191
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            926.3336137157394,
+            -259.9242362982333,
+            -2.886146458160315
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393191
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            919.2332725524903,
+            -271.52674827575686,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-17-48_523465512/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-17-48_523465512/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..69ed1d95de6a061c00004b3b6ab81280337abaef
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-17-48_523465512/pose.jsonl
@@ -0,0 +1,183 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            569.0239271343443,
+            -0.5190261934582381,
+            -5.099885341441991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            572.0239271343443,
+            -0.5190261934582381,
+            -5.099885341441991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            575.0239271343443,
+            -0.5190261934582381,
+            -5.099885341441991
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            575.0239271343443,
+            -0.5190261934582381,
+            -5.099885341441991
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            575.0239271343443,
+            -0.5190261934582381,
+            -5.099885341441991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            576.5239271343443,
+            2.079050017895078,
+            -5.099885341441991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            578.0239271343443,
+            4.677126229248394,
+            -5.099885341441991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            579.5239271343443,
+            7.27520244060171,
+            -5.099885341441991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            581.0239271343443,
+            9.873278651955026,
+            -5.099885341441991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            582.5239271343443,
+            12.471354863308342,
+            -5.099885341441991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            584.0239271343443,
+            15.069431074661658,
+            -5.099885341441991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            585.5239271343443,
+            17.667507286014974,
+            -5.099885341441991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            587.0239271343443,
+            20.26558349736829,
+            -5.099885341441991
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            611.1197254180909,
+            43.554152965545654,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-19-47_1270551295/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-19-47_1270551295/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..23551ed99e7bed8d03743d63613468ca0e1a9d32
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-19-47_1270551295/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1590.0738400643008,
+            -29.81266722703093,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1590.0738400643008,
+            -32.81266722703093,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1590.0738400643008,
+            -35.81266722703093,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1590.0738400643008,
+            -38.81266722703093,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1590.0738400643008,
+            -41.81266722703093,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1590.0738400643008,
+            -44.81266722703093,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1590.0738400643008,
+            -47.81266722703093,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1590.0738400643008,
+            -50.81266722703093,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1590.0738400643008,
+            -53.81266722703093,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1590.0738400643008,
+            -56.81266722703093,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1590.0738400643008,
+            -59.81266722703093,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1590.0738400643008,
+            -62.81266722703093,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1590.0738400643008,
+            -65.81266722703093,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1590.0738400643008,
+            -68.81266722703093,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1590.0738400643008,
+            -71.81266722703093,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1590.0738400643008,
+            -74.81266722703093,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1590.0738400643008,
+            -77.81266722703093,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1590.0738400643008,
+            -80.81266722703093,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1590.0738400643008,
+            -83.81266722703093,
+            -4.556724150912704
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1590.0738400643008,
+            -83.81266722703093,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1591.5738400643008,
+            -86.41074343838424,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1593.0738400643008,
+            -89.00881964973756,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1594.5738400643008,
+            -91.60689586109088,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1596.0738400643008,
+            -94.20497207244419,
+            -4.556724150912704
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1596.0738400643008,
+            -94.20497207244419,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1598.6719162756542,
+            -95.70497207244419,
+            -4.556724150912704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1601.2699924870076,
+            -97.20497207244419,
+            -4.556724150912704
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1602.297836303711,
+            -98.12757396697998,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-25-59_1096079422/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-25-59_1096079422/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7167d68e855726f026a3b7fa527437eb0c422afe
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-25-59_1096079422/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            943.2718944767105,
+            -447.1700611228921,
+            -3.4134767555998167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            944.7718944767105,
+            -444.5719849115388,
+            -3.4134767555998167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            946.2718944767105,
+            -441.97390870018546,
+            -3.4134767555998167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            947.7718944767105,
+            -439.37583248883215,
+            -3.4134767555998167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            949.2718944767105,
+            -436.77775627747883,
+            -3.4134767555998167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            950.7718944767105,
+            -434.1796800661255,
+            -3.4134767555998167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            952.2718944767105,
+            -431.5816038547722,
+            -3.4134767555998167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            953.7718944767105,
+            -428.9835276434189,
+            -3.4134767555998167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            955.2718944767105,
+            -426.38545143206557,
+            -3.4134767555998167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            956.7718944767105,
+            -423.78737522071225,
+            -3.4134767555998167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            958.2718944767105,
+            -421.18929900935893,
+            -3.4134767555998167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            959.7718944767105,
+            -418.5912227980056,
+            -3.4134767555998167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            961.2718944767105,
+            -415.9931465866523,
+            -3.4134767555998167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            962.7718944767105,
+            -413.395070375299,
+            -3.4134767555998167
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            962.7718944767105,
+            -413.395070375299,
+            -3.4134767555998167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            962.7718944767105,
+            -410.395070375299,
+            -3.4134767555998167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            962.7718944767105,
+            -407.395070375299,
+            -3.4134767555998167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            962.7718944767105,
+            -404.395070375299,
+            -3.4134767555998167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            962.7718944767105,
+            -401.395070375299,
+            -3.4134767555998167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            962.7718944767105,
+            -398.395070375299,
+            -3.4134767555998167
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            971.7509979248048,
+            -378.1575077056885,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-37-23_1387516123/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-37-23_1387516123/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7ab5a7742ae3a175d5c8dfc36f8b20ec1edfad32
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-37-23_1387516123/pose.jsonl
@@ -0,0 +1,235 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            667.5135755009323,
+            28.677539645755196,
+            -8.725289124046915
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            664.5135755009323,
+            28.677539645755196,
+            -8.725289124046915
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            661.5135755009323,
+            28.677539645755196,
+            -8.725289124046915
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            658.5135755009323,
+            28.677539645755196,
+            -8.725289124046915
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            655.5135755009323,
+            28.677539645755196,
+            -8.725289124046915
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            652.5135755009323,
+            28.677539645755196,
+            -8.725289124046915
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            649.5135755009323,
+            28.677539645755196,
+            -8.725289124046915
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            646.5135755009323,
+            28.677539645755196,
+            -8.725289124046915
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            643.5135755009323,
+            28.677539645755196,
+            -8.725289124046915
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            643.5135755009323,
+            28.677539645755196,
+            -8.725289124046915
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            640.915499289579,
+            30.177539645755196,
+            -8.725289124046915
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            638.3174230782256,
+            31.677539645755196,
+            -8.725289124046915
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            635.7193468668722,
+            33.177539645755196,
+            -8.725289124046915
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            633.1212706555189,
+            34.677539645755196,
+            -8.725289124046915
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            630.5231944441655,
+            36.177539645755196,
+            -8.725289124046915
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            627.9251182328121,
+            37.677539645755196,
+            -8.725289124046915
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            625.3270420214587,
+            39.177539645755196,
+            -8.725289124046915
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            611.1197254180909,
+            43.554152965545654,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-40-59_713475737/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-40-59_713475737/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..528455fbcebed7ca20a1c0bda3b2c32fc54cd092
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-40-59_713475737/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1602.4686105526184,
+            -133.30652288442096,
+            -9.010389341001174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1599.870534341265,
+            -131.80652288442096,
+            -9.010389341001174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1597.2724581299117,
+            -130.30652288442096,
+            -9.010389341001174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1594.6743819185583,
+            -128.80652288442096,
+            -9.010389341001174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1592.076305707205,
+            -127.30652288442096,
+            -9.010389341001174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1589.4782294958516,
+            -125.80652288442096,
+            -9.010389341001174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1586.8801532844982,
+            -124.30652288442096,
+            -9.010389341001174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1584.2820770731448,
+            -122.80652288442096,
+            -9.010389341001174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1581.6840008617914,
+            -121.30652288442096,
+            -9.010389341001174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1579.085924650438,
+            -119.80652288442096,
+            -9.010389341001174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1576.4878484390847,
+            -118.30652288442096,
+            -9.010389341001174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1573.8897722277313,
+            -116.80652288442096,
+            -9.010389341001174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1571.291696016378,
+            -115.30652288442096,
+            -9.010389341001174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1568.6936198050246,
+            -113.80652288442096,
+            -9.010389341001174
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1568.6936198050246,
+            -113.80652288442096,
+            -9.010389341001174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1567.1936198050246,
+            -111.20844667306764,
+            -9.010389341001174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1565.6936198050246,
+            -108.61037046171433,
+            -9.010389341001174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1564.1936198050246,
+            -106.01229425036101,
+            -9.010389341001174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1562.6936198050246,
+            -103.4142180390077,
+            -9.010389341001174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1561.1936198050246,
+            -100.81614182765438,
+            -9.010389341001174
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1559.6936198050246,
+            -98.21806561630106,
+            -9.010389341001174
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1559.5110931396484,
+            -96.07600393295289,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-41-11_1092059772/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-41-11_1092059772/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3df39dbebc9b68dba69d4487e955a10aef5d4559
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-41-11_1092059772/pose.jsonl
@@ -0,0 +1,391 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            31.833626931925565,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            34.833626931925565,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            37.833626931925565,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            40.833626931925565,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            43.833626931925565,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            46.833626931925565,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            49.833626931925565,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            52.833626931925565,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            55.833626931925565,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            58.833626931925565,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            61.833626931925565,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            64.83362693192556,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            67.83362693192556,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            70.83362693192556,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            73.83362693192556,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            76.83362693192556,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            79.83362693192556,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            82.83362693192556,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            85.83362693192556,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            88.83362693192556,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            91.83362693192556,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            94.83362693192556,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            97.83362693192556,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            100.83362693192556,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            100.83362693192556,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            100.83362693192556,
+            168.76188012140884,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            102.33362693192556,
+            171.35995633276215,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            103.83362693192556,
+            173.95803254411547,
+            -9.016529321361485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            105.33362693192556,
+            176.55610875546878,
+            -9.016529321361485
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            108.78504695892335,
+            175.8657693862915,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-44-10_1259076780/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-44-10_1259076780/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..26de654e5982a269053c75090ef7c7a2fee7b687
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-44-10_1259076780/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -128.9661655103405,
+            105.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -125.96616551034049,
+            105.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -122.96616551034049,
+            105.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -119.96616551034049,
+            105.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -116.96616551034049,
+            105.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -113.96616551034049,
+            105.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -110.96616551034049,
+            105.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -107.96616551034049,
+            105.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -104.96616551034049,
+            105.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -101.96616551034049,
+            105.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -98.96616551034049,
+            105.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -95.96616551034049,
+            105.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -92.96616551034049,
+            105.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -89.96616551034049,
+            105.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -86.96616551034049,
+            105.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -83.96616551034049,
+            105.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -80.96616551034049,
+            105.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -77.96616551034049,
+            105.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -77.96616551034049,
+            105.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -75.36808929898717,
+            106.96148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -72.77001308763386,
+            108.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -70.17193687628054,
+            109.96148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -67.57386066492722,
+            111.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -64.97578445357391,
+            112.96148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -62.37770824222059,
+            114.46148399320964,
+            -1.934223940176242
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -59.779632030867276,
+            115.96148399320964,
+            -1.934223940176242
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -58.67859439849854,
+            118.20751323699952,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-44-57_1414460396/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-44-57_1414460396/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2a1421ac9438606bca6c5b05d306ac21549a3f7a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-44-57_1414460396/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            412.20756905573046,
+            -490.18470609376254,
+            -7.617025430729607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            412.20756905573046,
+            -487.18470609376254,
+            -7.617025430729607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            412.20756905573046,
+            -484.18470609376254,
+            -7.617025430729607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            412.20756905573046,
+            -481.18470609376254,
+            -7.617025430729607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            412.20756905573046,
+            -478.18470609376254,
+            -7.617025430729607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            412.20756905573046,
+            -475.18470609376254,
+            -7.617025430729607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            412.20756905573046,
+            -472.18470609376254,
+            -7.617025430729607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            412.20756905573046,
+            -469.18470609376254,
+            -7.617025430729607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            412.20756905573046,
+            -466.18470609376254,
+            -7.617025430729607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            412.20756905573046,
+            -463.18470609376254,
+            -7.617025430729607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            412.20756905573046,
+            -460.18470609376254,
+            -7.617025430729607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            412.20756905573046,
+            -457.18470609376254,
+            -7.617025430729607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            412.20756905573046,
+            -454.18470609376254,
+            -7.617025430729607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            412.20756905573046,
+            -451.18470609376254,
+            -7.617025430729607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            412.20756905573046,
+            -448.18470609376254,
+            -7.617025430729607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            412.20756905573046,
+            -445.18470609376254,
+            -7.617025430729607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            412.20756905573046,
+            -442.18470609376254,
+            -7.617025430729607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            412.20756905573046,
+            -439.18470609376254,
+            -7.617025430729607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            412.20756905573046,
+            -436.18470609376254,
+            -7.617025430729607
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            410.6194187164307,
+            -422.415909576416,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-47-33_589306240/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-47-33_589306240/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bb0af99d616606dfa749caf462f384c339d482b5
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-47-33_589306240/pose.jsonl
@@ -0,0 +1,131 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            998.4152113709806,
+            208.81465784900593,
+            -8.47465005082362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            998.4152113709806,
+            205.81465784900593,
+            -8.47465005082362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            998.4152113709806,
+            202.81465784900593,
+            -8.47465005082362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            998.4152113709806,
+            199.81465784900593,
+            -8.47465005082362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            998.4152113709806,
+            196.81465784900593,
+            -8.47465005082362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            998.4152113709806,
+            193.81465784900593,
+            -8.47465005082362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            998.4152113709806,
+            190.81465784900593,
+            -8.47465005082362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            998.4152113709806,
+            187.81465784900593,
+            -8.47465005082362
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            998.4152113709806,
+            184.81465784900593,
+            -8.47465005082362
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            993.6485565185548,
+            138.21244525909424,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-56-3_771893916/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-56-3_771893916/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..82025417440387ba4b70c2a773a5de778a056467
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-56-3_771893916/pose.jsonl
@@ -0,0 +1,417 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -134.6905311355344,
+            -310.2636687551574,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -134.6905311355344,
+            -307.2636687551574,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -134.6905311355344,
+            -304.2636687551574,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -134.6905311355344,
+            -301.2636687551574,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -134.6905311355344,
+            -298.2636687551574,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -134.6905311355344,
+            -295.2636687551574,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -134.6905311355344,
+            -292.2636687551574,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -134.6905311355344,
+            -289.2636687551574,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -134.6905311355344,
+            -286.2636687551574,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -134.6905311355344,
+            -283.2636687551574,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -134.6905311355344,
+            -280.2636687551574,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -134.6905311355344,
+            -277.2636687551574,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -134.6905311355344,
+            -274.2636687551574,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -134.6905311355344,
+            -271.2636687551574,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -134.6905311355344,
+            -268.2636687551574,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -134.6905311355344,
+            -265.2636687551574,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -134.6905311355344,
+            -262.2636687551574,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -134.6905311355344,
+            -259.2636687551574,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -134.6905311355344,
+            -256.2636687551574,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -134.6905311355344,
+            -253.26366875515743,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -134.6905311355344,
+            -250.26366875515743,
+            -6.1222737624195815
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -134.6905311355344,
+            -250.26366875515743,
+            -6.1222737624195815
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -134.6905311355344,
+            -250.26366875515743,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -137.28860734688772,
+            -248.76366875515743,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -139.88668355824103,
+            -247.26366875515743,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -142.48475976959435,
+            -245.76366875515743,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -145.08283598094766,
+            -244.26366875515743,
+            -6.1222737624195815
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -145.08283598094766,
+            -244.26366875515743,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -146.58283598094766,
+            -241.6655925438041,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -148.08283598094766,
+            -239.0675163324508,
+            -6.1222737624195815
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -149.58283598094766,
+            -236.46944012109748,
+            -6.1222737624195815
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -152.3348680496216,
+            -234.43780555725098,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-10-30_158303604/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-10-30_158303604/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..74e215f48650082f5f5701272ef2373221044a54
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-10-30_158303604/pose.jsonl
@@ -0,0 +1,92 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            889.6875275706342,
+            -350.8645153274233,
+            -8.558884966096551
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            891.1875275706342,
+            -353.4625915387766,
+            -8.558884966096551
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            892.6875275706342,
+            -356.06066775012994,
+            -8.558884966096551
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            894.1875275706342,
+            -358.65874396148325,
+            -8.558884966096551
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            895.6875275706342,
+            -361.25682017283657,
+            -8.558884966096551
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            897.1875275706342,
+            -363.8548963841899,
+            -8.558884966096551
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            927.2414848327637,
+            -404.25602226257325,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-18-19_1632381616/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-18-19_1632381616/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6f23ba483138d8be3cd86eafcefba7d54dac0b59
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-18-19_1632381616/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            438.47354889194287,
+            -384.19298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            441.47354889194287,
+            -384.19298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            444.47354889194287,
+            -384.19298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            447.47354889194287,
+            -384.19298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            450.47354889194287,
+            -384.19298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            453.47354889194287,
+            -384.19298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            456.47354889194287,
+            -384.19298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            459.47354889194287,
+            -384.19298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            462.47354889194287,
+            -384.19298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            465.47354889194287,
+            -384.19298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            468.47354889194287,
+            -384.19298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            471.47354889194287,
+            -384.19298784026125,
+            -6.361510430335605
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            471.47354889194287,
+            -384.19298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            474.0716251032962,
+            -382.69298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            476.6697013146495,
+            -381.19298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            479.2677775260028,
+            -379.69298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            481.86585373735613,
+            -378.19298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            484.46392994870945,
+            -376.69298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            487.06200616006277,
+            -375.19298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            489.6600823714161,
+            -373.69298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            492.2581585827694,
+            -372.19298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            494.8562347941227,
+            -370.69298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            497.45431100547603,
+            -369.19298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            500.05238721682935,
+            -367.69298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            502.65046342818266,
+            -366.19298784026125,
+            -6.361510430335605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            505.248539639536,
+            -364.69298784026125,
+            -6.361510430335605
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            507.2775932312012,
+            -365.6789970397949,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-30-29_291789062/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-30-29_291789062/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..301a26f015df67e6f76d9717fa250c6093175a9a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-30-29_291789062/pose.jsonl
@@ -0,0 +1,183 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            948.0282708110883,
+            -187.7513003921827,
+            -5.089709165417176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            949.5282708110883,
+            -190.34937660353603,
+            -5.089709165417176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            951.0282708110883,
+            -192.94745281488935,
+            -5.089709165417176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            952.5282708110883,
+            -195.54552902624266,
+            -5.089709165417176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            954.0282708110883,
+            -198.14360523759598,
+            -5.089709165417176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            955.5282708110883,
+            -200.7416814489493,
+            -5.089709165417176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            957.0282708110883,
+            -203.3397576603026,
+            -5.089709165417176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            958.5282708110883,
+            -205.93783387165593,
+            -5.089709165417176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            960.0282708110883,
+            -208.53591008300924,
+            -5.089709165417176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            961.5282708110883,
+            -211.13398629436256,
+            -5.089709165417176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            963.0282708110883,
+            -213.73206250571587,
+            -5.089709165417176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            964.5282708110883,
+            -216.3301387170692,
+            -5.089709165417176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            966.0282708110883,
+            -218.9282149284225,
+            -5.089709165417176
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            984.0259399414064,
+            -252.70955543518068,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-36-1_2006777163/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-36-1_2006777163/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c57305d119a6716f5476e5d2a520b5b096317415
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-36-1_2006777163/pose.jsonl
@@ -0,0 +1,209 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            385.85247613943056,
+            -173.06393607884058,
+            -1.4122128548012736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            383.25439992807725,
+            -171.56393607884058,
+            -1.4122128548012736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            380.65632371672393,
+            -170.06393607884058,
+            -1.4122128548012736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            378.0582475053706,
+            -168.56393607884058,
+            -1.4122128548012736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            375.4601712940173,
+            -167.06393607884058,
+            -1.4122128548012736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            372.862095082664,
+            -165.56393607884058,
+            -1.4122128548012736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            370.26401887131067,
+            -164.06393607884058,
+            -1.4122128548012736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            367.66594265995735,
+            -162.56393607884058,
+            -1.4122128548012736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            365.06786644860404,
+            -161.06393607884058,
+            -1.4122128548012736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            362.4697902372507,
+            -159.56393607884058,
+            -1.4122128548012736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            359.8717140258974,
+            -158.06393607884058,
+            -1.4122128548012736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            357.2736378145441,
+            -156.56393607884058,
+            -1.4122128548012736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            354.6755616031908,
+            -155.06393607884058,
+            -1.4122128548012736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            352.07748539183746,
+            -153.56393607884058,
+            -1.4122128548012736
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            349.47940918048414,
+            -152.06393607884058,
+            -1.4122128548012736
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            320.9684103012085,
+            -137.41820926666261,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-4-37_1481969091/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-4-37_1481969091/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6d268e7562a1c1afc6fd313fa18c5a08839a8cd9
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-4-37_1481969091/pose.jsonl
@@ -0,0 +1,248 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            181.18330641556636,
+            122.4135333174784,
+            -6.80419660929052
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            179.68330641556636,
+            119.81545710612508,
+            -6.80419660929052
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            178.18330641556636,
+            117.21738089477176,
+            -6.80419660929052
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            176.68330641556636,
+            114.61930468341845,
+            -6.80419660929052
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            175.18330641556636,
+            112.02122847206513,
+            -6.80419660929052
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            173.68330641556636,
+            109.42315226071182,
+            -6.80419660929052
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            172.18330641556636,
+            106.8250760493585,
+            -6.80419660929052
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            170.68330641556636,
+            104.22699983800518,
+            -6.80419660929052
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            169.18330641556636,
+            101.62892362665187,
+            -6.80419660929052
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            167.68330641556636,
+            99.03084741529855,
+            -6.80419660929052
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            166.18330641556636,
+            96.43277120394524,
+            -6.80419660929052
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            164.68330641556636,
+            93.83469499259192,
+            -6.80419660929052
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            163.18330641556636,
+            91.2366187812386,
+            -6.80419660929052
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            161.68330641556636,
+            88.63854256988529,
+            -6.80419660929052
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            160.18330641556636,
+            86.04046635853197,
+            -6.80419660929052
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            158.68330641556636,
+            83.44239014717866,
+            -6.80419660929052
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            157.18330641556636,
+            80.84431393582534,
+            -6.80419660929052
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            155.68330641556636,
+            78.24623772447202,
+            -6.80419660929052
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            156.30504608154297,
+            75.66667518615724,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-17-45_1202969762/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-17-45_1202969762/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..76ce8e60fa7ed1e91a92c3284698ef1cd24ebeea
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-17-45_1202969762/pose.jsonl
@@ -0,0 +1,235 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1480.5362939348033,
+            -214.45172393988182,
+            -7.917668965489717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1477.93821772345,
+            -212.95172393988182,
+            -7.917668965489717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1475.3401415120966,
+            -211.45172393988182,
+            -7.917668965489717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1472.7420653007432,
+            -209.95172393988182,
+            -7.917668965489717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1470.1439890893898,
+            -208.45172393988182,
+            -7.917668965489717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1467.5459128780365,
+            -206.95172393988182,
+            -7.917668965489717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1464.947836666683,
+            -205.45172393988182,
+            -7.917668965489717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1462.3497604553297,
+            -203.95172393988182,
+            -7.917668965489717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1459.7516842439763,
+            -202.45172393988182,
+            -7.917668965489717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1457.153608032623,
+            -200.95172393988182,
+            -7.917668965489717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1454.5555318212696,
+            -199.45172393988182,
+            -7.917668965489717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1451.9574556099162,
+            -197.95172393988182,
+            -7.917668965489717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1449.3593793985629,
+            -196.45172393988182,
+            -7.917668965489717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1446.7613031872095,
+            -194.95172393988182,
+            -7.917668965489717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1444.163226975856,
+            -193.45172393988182,
+            -7.917668965489717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1441.5651507645027,
+            -191.95172393988182,
+            -7.917668965489717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1438.9670745531494,
+            -190.45172393988182,
+            -7.917668965489717
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1437.3104949951173,
+            -187.02000331878662,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-28-52_362447374/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-28-52_362447374/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..45489956e519972daa6a86c08021daaebaf65488
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-28-52_362447374/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -198.97432452805958,
+            92.90415522270581,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -201.5724007394129,
+            91.40415522270581,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -204.17047695076621,
+            89.90415522270581,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -206.76855316211953,
+            88.40415522270581,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -209.36662937347285,
+            86.90415522270581,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -211.96470558482616,
+            85.40415522270581,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -214.56278179617948,
+            83.90415522270581,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -217.1608580075328,
+            82.40415522270581,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -219.7589342188861,
+            80.90415522270581,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -222.35701043023943,
+            79.40415522270581,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -224.95508664159274,
+            77.90415522270581,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -227.55316285294606,
+            76.40415522270581,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -230.15123906429938,
+            74.90415522270581,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -232.7493152756527,
+            73.40415522270581,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -235.347391487006,
+            71.90415522270581,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -237.94546769835932,
+            70.40415522270581,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -240.54354390971264,
+            68.90415522270581,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -243.14162012106596,
+            67.40415522270581,
+            -7.782901040505603
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -243.14162012106596,
+            67.40415522270581,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -244.64162012106596,
+            64.8060790113525,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -246.14162012106596,
+            62.20800279999918,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -247.64162012106596,
+            59.60992658864586,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -249.14162012106596,
+            57.01185037729255,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -250.64162012106596,
+            54.41377416593923,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -252.14162012106596,
+            51.815697954585914,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -253.64162012106596,
+            49.2176217432326,
+            -7.782901040505603
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -253.64162012106596,
+            49.2176217432326,
+            -7.782901040505603
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -256.23969633241927,
+            47.7176217432326,
+            -7.782901040505603
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -259.2387418746948,
+            45.236197376251226,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-58-8_945359154/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-58-8_945359154/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..546cde5837eca586026458b1244254eec573ec02
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-58-8_945359154/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1464.8336961948723,
+            167.24825623390296,
+            -8.076399785607792
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1462.235619983519,
+            165.74825623390296,
+            -8.076399785607792
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1459.6375437721656,
+            164.24825623390296,
+            -8.076399785607792
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1457.0394675608122,
+            162.74825623390296,
+            -8.076399785607792
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1454.4413913494589,
+            161.24825623390296,
+            -8.076399785607792
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1451.8433151381055,
+            159.74825623390296,
+            -8.076399785607792
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1449.245238926752,
+            158.24825623390296,
+            -8.076399785607792
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1446.6471627153987,
+            156.74825623390296,
+            -8.076399785607792
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1444.0490865040454,
+            155.24825623390296,
+            -8.076399785607792
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1441.451010292692,
+            153.74825623390296,
+            -8.076399785607792
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1438.8529340813386,
+            152.24825623390296,
+            -8.076399785607792
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1436.2548578699852,
+            150.74825623390296,
+            -8.076399785607792
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1436.2548578699852,
+            150.74825623390296,
+            -8.076399785607792
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1433.2548578699852,
+            150.74825623390296,
+            -8.076399785607792
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1430.2548578699852,
+            150.74825623390296,
+            -8.076399785607792
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1427.2548578699852,
+            150.74825623390296,
+            -8.076399785607792
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1424.2548578699852,
+            150.74825623390296,
+            -8.076399785607792
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1421.2548578699852,
+            150.74825623390296,
+            -8.076399785607792
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1418.2548578699852,
+            150.74825623390296,
+            -8.076399785607792
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1415.2548578699852,
+            150.74825623390296,
+            -8.076399785607792
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1412.041893005371,
+            150.22052021026613,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-7-1_690918075/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-7-1_690918075/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0646d402a9858caa2c245c464683431d2536d94e
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-7-1_690918075/pose.jsonl
@@ -0,0 +1,170 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            437.2167079973899,
+            -212.86443664540687,
+            -8.527438358519403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            440.2167079973899,
+            -212.86443664540687,
+            -8.527438358519403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            443.2167079973899,
+            -212.86443664540687,
+            -8.527438358519403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            446.2167079973899,
+            -212.86443664540687,
+            -8.527438358519403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            449.2167079973899,
+            -212.86443664540687,
+            -8.527438358519403
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            449.2167079973899,
+            -212.86443664540687,
+            -8.527438358519403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            451.8147842087432,
+            -214.36443664540687,
+            -8.527438358519403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            454.41286042009654,
+            -215.86443664540687,
+            -8.527438358519403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            457.01093663144985,
+            -217.36443664540687,
+            -8.527438358519403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            459.60901284280317,
+            -218.86443664540687,
+            -8.527438358519403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            462.2070890541565,
+            -220.36443664540687,
+            -8.527438358519403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            464.8051652655098,
+            -221.86443664540687,
+            -8.527438358519403
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            485.3397609710694,
+            -231.23137340545657,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-4-13_915892857/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-4-13_915892857/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..57ec0587da892363a0efcb6ee7e912fa7e5960b4
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-4-13_915892857/pose.jsonl
@@ -0,0 +1,183 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1509.6130557259598,
+            -170.9120329626561,
+            -1.3194872506083097
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1509.6130557259598,
+            -167.9120329626561,
+            -1.3194872506083097
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1509.6130557259598,
+            -164.9120329626561,
+            -1.3194872506083097
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1509.6130557259598,
+            -161.9120329626561,
+            -1.3194872506083097
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1509.6130557259598,
+            -158.9120329626561,
+            -1.3194872506083097
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1509.6130557259598,
+            -155.9120329626561,
+            -1.3194872506083097
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1509.6130557259598,
+            -152.9120329626561,
+            -1.3194872506083097
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1509.6130557259598,
+            -149.9120329626561,
+            -1.3194872506083097
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1509.6130557259598,
+            -146.9120329626561,
+            -1.3194872506083097
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1509.6130557259598,
+            -143.9120329626561,
+            -1.3194872506083097
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1509.6130557259598,
+            -143.9120329626561,
+            -1.3194872506083097
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1511.1130557259598,
+            -141.31395675130278,
+            -1.3194872506083097
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1512.6130557259598,
+            -138.71588053994947,
+            -1.3194872506083097
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1517.6720581054688,
+            -108.54975051879883,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}