diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-45-42_805750846/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-45-42_805750846/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d983afd6f2170e5ed82569e6110f43eba69ab907
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-45-42_805750846/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            357.4444590028704,
+            -1866.0487893592708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            357.4444590028704,
+            -1863.0487893592708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            357.4444590028704,
+            -1860.0487893592708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            357.4444590028704,
+            -1857.0487893592708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            357.4444590028704,
+            -1854.0487893592708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            357.4444590028704,
+            -1851.0487893592708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            357.4444590028704,
+            -1848.0487893592708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            357.4444590028704,
+            -1845.0487893592708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            357.4444590028704,
+            -1842.0487893592708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            357.4444590028704,
+            -1839.0487893592708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            357.4444590028704,
+            -1836.0487893592708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            357.4444590028704,
+            -1833.0487893592708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            357.4444590028704,
+            -1830.0487893592708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            357.4444590028704,
+            -1827.0487893592708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            357.4444590028704,
+            -1824.0487893592708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            357.4444590028704,
+            -1821.0487893592708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            357.4444590028704,
+            -1818.0487893592708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            357.4444590028704,
+            -1815.0487893592708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            357.4444590028704,
+            -1812.0487893592708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            357.4444590028704,
+            -1809.0487893592708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            357.4444590028704,
+            -1806.0487893592708,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            360.0,
+            -1776.0,
+            -267.209
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-48-33_760313750/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-48-33_760313750/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f4a7dc5f7c6639c2248e68dc8d96ee5e6a5e2fce
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-48-33_760313750/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -712.5639529235489,
+            -2266.1303718045915,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -711.0639529235489,
+            -2263.5322955932384,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -709.5639529235489,
+            -2260.934219381885,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -708.0639529235489,
+            -2258.336143170532,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -706.5639529235489,
+            -2255.738066959179,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -705.0639529235489,
+            -2253.139990747826,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -703.5639529235489,
+            -2250.5419145364726,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -702.0639529235489,
+            -2247.9438383251195,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -700.5639529235489,
+            -2245.3457621137663,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -699.0639529235489,
+            -2242.747685902413,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -697.5639529235489,
+            -2240.14960969106,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -696.0639529235489,
+            -2237.551533479707,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -694.5639529235489,
+            -2234.9534572683538,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -693.0639529235489,
+            -2232.3553810570006,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -680.0,
+            -2208.0,
+            -225.684
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-52-25_855636226/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-52-25_855636226/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..db84e2d8177282c8a787cd80660b9b59ea4ac517
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-52-25_855636226/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -547.9629065911965,
+            -1870.2971969319658,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -549.4629065911965,
+            -1872.8952731433192,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -550.9629065911965,
+            -1875.4933493546725,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -552.4629065911965,
+            -1878.091425566026,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -553.9629065911965,
+            -1880.6895017773793,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -555.4629065911965,
+            -1883.2875779887327,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -556.9629065911965,
+            -1885.885654200086,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -558.4629065911965,
+            -1888.4837304114394,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -559.9629065911965,
+            -1891.0818066227928,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -561.4629065911965,
+            -1893.6798828341462,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -562.9629065911965,
+            -1896.2779590454995,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -564.4629065911965,
+            -1898.876035256853,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -565.9629065911965,
+            -1901.4741114682063,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -565.9629065911965,
+            -1901.4741114682063,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -565.9629065911965,
+            -1904.4741114682063,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -565.9629065911965,
+            -1907.4741114682063,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -565.9629065911965,
+            -1910.4741114682063,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -565.9629065911965,
+            -1913.4741114682063,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -565.9629065911965,
+            -1916.4741114682063,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -565.9629065911965,
+            -1919.4741114682063,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -565.9629065911965,
+            -1922.4741114682063,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -572.0,
+            -1940.0,
+            -282.532
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-45-7_1335939811/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-45-7_1335939811/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f56bed504c10f40ab5c956f8de39402b0ef62a4a
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-45-7_1335939811/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            437.58283907393286,
+            -2274.797980856651,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            436.08283907393286,
+            -2272.199904645298,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            434.58283907393286,
+            -2269.601828433945,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            433.08283907393286,
+            -2267.0037522225916,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            431.58283907393286,
+            -2264.4056760112385,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            430.08283907393286,
+            -2261.8075997998853,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            428.58283907393286,
+            -2259.209523588532,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            427.08283907393286,
+            -2256.611447377179,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            425.58283907393286,
+            -2254.013371165826,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            424.08283907393286,
+            -2251.4152949544728,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            424.08283907393286,
+            -2251.4152949544728,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915224
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            421.48476286257954,
+            -2249.9152949544728,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            418.8866866512262,
+            -2248.4152949544728,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            416.2886104398729,
+            -2246.9152949544728,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            413.6905342285196,
+            -2245.4152949544728,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            411.0924580171663,
+            -2243.9152949544728,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            384.0,
+            -2208.0,
+            -276.879
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-48-4_619054081/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-48-4_619054081/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e281599cf3920af74d8d87b66209a773ceefb2c
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-48-4_619054081/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            451.12941932433904,
+            -2467.427200902208,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            451.12941932433904,
+            -2470.427200902208,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            451.12941932433904,
+            -2473.427200902208,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            451.12941932433904,
+            -2476.427200902208,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            451.12941932433904,
+            -2479.427200902208,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            451.12941932433904,
+            -2482.427200902208,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            451.12941932433904,
+            -2482.427200902208,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            452.62941932433904,
+            -2485.025277113561,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            464.0,
+            -2560.0,
+            -281.726
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-56-59_1857962504/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-56-59_1857962504/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2d29909f79854056fb9ee1bb3d2ed28711eeacef
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-56-59_1857962504/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            21.384738597760112,
+            -1612.8682435311584,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            22.884738597760112,
+            -1615.4663197425118,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            24.384738597760112,
+            -1618.0643959538652,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            25.884738597760112,
+            -1620.6624721652186,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            27.384738597760112,
+            -1623.260548376572,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            28.884738597760112,
+            -1625.8586245879253,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            30.384738597760112,
+            -1628.4567007992787,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            31.884738597760112,
+            -1631.054777010632,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            33.38473859776011,
+            -1633.6528532219854,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            34.88473859776011,
+            -1636.2509294333388,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            36.38473859776011,
+            -1638.8490056446922,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            37.88473859776011,
+            -1641.4470818560455,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            39.38473859776011,
+            -1644.045158067399,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            40.88473859776011,
+            -1646.6432342787523,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            42.38473859776011,
+            -1649.2413104901057,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            43.88473859776011,
+            -1651.839386701459,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            43.88473859776011,
+            -1651.839386701459,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            43.88473859776011,
+            -1654.839386701459,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            43.88473859776011,
+            -1657.839386701459,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            43.88473859776011,
+            -1660.839386701459,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            43.88473859776011,
+            -1660.839386701459,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            43.88473859776011,
+            -1660.839386701459,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            46.48281480911343,
+            -1662.339386701459,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            49.080891020466744,
+            -1663.839386701459,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            51.67896723182006,
+            -1665.339386701459,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            51.67896723182006,
+            -1665.339386701459,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            53.17896723182006,
+            -1667.9374629128124,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            -1696.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-11-19_1192707556/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-11-19_1192707556/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e11655803aa41ee644ecfae684571c5ce98e4fa4
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-11-19_1192707556/pose.jsonl
@@ -0,0 +1,93 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            176.1785000225026,
+            -2471.4839856148083,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            177.6785000225026,
+            -2474.0820618261614,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            179.1785000225026,
+            -2476.6801380375146,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            180.6785000225026,
+            -2479.2782142488677,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            182.1785000225026,
+            -2481.876290460221,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            183.6785000225026,
+            -2484.474366671574,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            204.0,
+            -2548.0,
+            -283.825
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-18-58_2416949/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-18-58_2416949/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..920214a6a381dc08d7e18b5b4c5f3219833e94a7
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-18-58_2416949/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            282.9345683710818,
+            -1297.369920688331,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            284.4345683710818,
+            -1294.7718444769775,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            285.9345683710818,
+            -1292.1737682656242,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            287.4345683710818,
+            -1289.5756920542708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            288.9345683710818,
+            -1286.9776158429174,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            290.4345683710818,
+            -1284.379539631564,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            291.9345683710818,
+            -1281.7814634202107,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            293.4345683710818,
+            -1279.1833872088573,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            294.9345683710818,
+            -1276.585310997504,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            296.4345683710818,
+            -1273.9872347861506,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            297.9345683710818,
+            -1271.3891585747972,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            299.4345683710818,
+            -1268.7910823634438,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            300.9345683710818,
+            -1266.1930061520904,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            302.4345683710818,
+            -1263.594929940737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            303.9345683710818,
+            -1260.9968537293837,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            305.4345683710818,
+            -1258.3987775180303,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            306.9345683710818,
+            -1255.800701306677,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            308.4345683710818,
+            -1253.2026250953236,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            309.9345683710818,
+            -1250.6045488839702,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            311.4345683710818,
+            -1248.0064726726168,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            332.0,
+            -1220.0,
+            -225.684
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-29-51_1010528946/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-29-51_1010528946/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..772192c1a825322fa174485d4de76590415baa0c
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-29-51_1010528946/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -158.21568049257,
+            -1485.9654866445032,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -156.71568049257,
+            -1483.3674104331499,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -155.21568049257,
+            -1480.7693342217965,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -153.71568049257,
+            -1478.1712580104431,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -152.21568049257,
+            -1475.5731817990898,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -150.71568049257,
+            -1472.9751055877364,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -149.21568049257,
+            -1470.377029376383,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -147.71568049257,
+            -1467.7789531650296,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -146.21568049257,
+            -1465.1808769536763,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -144.71568049257,
+            -1462.582800742323,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -143.21568049257,
+            -1459.9847245309695,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -141.71568049257,
+            -1457.3866483196161,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -124.0,
+            -1432.0,
+            -247.32
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-35-35_887077888/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-35-35_887077888/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e74d0e0ccdce1be36194786b23f324fcd6100185
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-35-35_887077888/pose.jsonl
@@ -0,0 +1,67 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            58.41465397881215,
+            -1602.6592330217725,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            58.41465397881215,
+            -1599.6592330217725,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            58.41465397881215,
+            -1596.6592330217725,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            58.41465397881215,
+            -1593.6592330217725,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            56.0,
+            -1536.0,
+            -281.7
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-48-16_427355115/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-48-16_427355115/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c57b62394a41d3f790c99111c09e441f5cc965cb
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-48-16_427355115/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            177.2170809912396,
+            -1667.639098347975,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            174.6190047798863,
+            -1666.139098347975,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            172.02092856853298,
+            -1664.639098347975,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            169.42285235717966,
+            -1663.139098347975,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            166.82477614582635,
+            -1661.639098347975,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            164.22669993447303,
+            -1660.139098347975,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            161.62862372311972,
+            -1658.639098347975,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            159.0305475117664,
+            -1657.139098347975,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            156.43247130041308,
+            -1655.639098347975,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            153.83439508905977,
+            -1654.139098347975,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            151.23631887770645,
+            -1652.639098347975,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            148.63824266635314,
+            -1651.139098347975,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            124.0,
+            -1636.0,
+            -258.132
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-52-49_1707746139/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-52-49_1707746139/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1c096d31b73ebf0e4b337416b1d6f2ce9529ed4b
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-52-49_1707746139/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            302.0741322563135,
+            -1285.4330124554724,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            300.5741322563135,
+            -1282.834936244119,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            299.0741322563135,
+            -1280.2368600327657,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            297.5741322563135,
+            -1277.6387838214123,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            296.0741322563135,
+            -1275.040707610059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            294.5741322563135,
+            -1272.4426313987055,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            293.0741322563135,
+            -1269.8445551873522,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            291.5741322563135,
+            -1267.2464789759988,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            290.0741322563135,
+            -1264.6484027646454,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            288.5741322563135,
+            -1262.050326553292,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            287.0741322563135,
+            -1259.4522503419387,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            285.5741322563135,
+            -1256.8541741305853,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            285.5741322563135,
+            -1256.8541741305853,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            282.97605604496016,
+            -1255.3541741305853,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            280.37797983360684,
+            -1253.8541741305853,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            277.7799036222535,
+            -1252.3541741305853,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            275.1818274109002,
+            -1250.8541741305853,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            272.5837511995469,
+            -1249.3541741305853,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            269.9856749881936,
+            -1247.8541741305853,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            267.38759877684026,
+            -1246.3541741305853,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            264.78952256548695,
+            -1244.8541741305853,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1220.0,
+            -281.7
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-6-4_739273303/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-6-4_739273303/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6a3780ce7d4c765ba4c4e46c3e6a6e1571544a12
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-6-4_739273303/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            258.76254924810036,
+            -1178.938683789128,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            261.76254924810036,
+            -1178.938683789128,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            264.76254924810036,
+            -1178.938683789128,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            264.76254924810036,
+            -1178.938683789128,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            264.76254924810036,
+            -1178.938683789128,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            266.26254924810036,
+            -1181.5367600004813,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            267.76254924810036,
+            -1184.1348362118347,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            267.76254924810036,
+            -1184.1348362118347,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            270.3606254594537,
+            -1185.6348362118347,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            272.958701670807,
+            -1187.1348362118347,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            275.5567778821603,
+            -1188.6348362118347,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            278.1548540935136,
+            -1190.1348362118347,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            280.75293030486694,
+            -1191.6348362118347,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            283.35100651622025,
+            -1193.1348362118347,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            285.94908272757357,
+            -1194.6348362118347,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            288.5471589389269,
+            -1196.1348362118347,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            291.1452351502802,
+            -1197.6348362118347,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            293.7433113616335,
+            -1199.1348362118347,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            296.34138757298683,
+            -1200.6348362118347,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            298.93946378434015,
+            -1202.1348362118347,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            301.53753999569346,
+            -1203.6348362118347,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            304.1356162070468,
+            -1205.1348362118347,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            306.7336924184001,
+            -1206.6348362118347,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            309.3317686297534,
+            -1208.1348362118347,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            311.92984484110673,
+            -1209.6348362118347,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            332.0,
+            -1220.0,
+            -225.684
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-12-1_1255387090/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-12-1_1255387090/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..36d61b762fd3c4d5cebca6b9618a065f701b7481
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-12-1_1255387090/pose.jsonl
@@ -0,0 +1,67 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            249.15620855705595,
+            -2465.2415322979923,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            247.65620855705595,
+            -2467.8396085093455,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            246.15620855705595,
+            -2470.4376847206986,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            244.65620855705595,
+            -2473.0357609320517,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            204.0,
+            -2548.0,
+            -283.825
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-15-17_441767868/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-15-17_441767868/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0350c67361f8205fd0e9bfe8eb11d193604cf8e4
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-15-17_441767868/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1138.6184566479726,
+            -2082.6850816812353,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1141.216532859326,
+            -2084.1850816812353,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1143.8146090706794,
+            -2085.6850816812353,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1146.4126852820327,
+            -2087.1850816812353,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1149.010761493386,
+            -2088.6850816812353,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1151.6088377047395,
+            -2090.1850816812353,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1154.2069139160928,
+            -2091.6850816812353,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1156.8049901274462,
+            -2093.1850816812353,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1159.4030663387996,
+            -2094.6850816812353,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1162.001142550153,
+            -2096.1850816812353,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1164.5992187615063,
+            -2097.6850816812353,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1167.1972949728597,
+            -2099.1850816812353,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1169.795371184213,
+            -2100.6850816812353,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1172.3934473955665,
+            -2102.1850816812353,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1174.9915236069198,
+            -2103.6850816812353,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1177.5895998182732,
+            -2105.1850816812353,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1180.1876760296266,
+            -2106.6850816812353,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1182.78575224098,
+            -2108.1850816812353,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1185.3838284523333,
+            -2109.6850816812353,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1185.3838284523333,
+            -2109.6850816812353,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1186.8838284523333,
+            -2112.2831578925884,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1188.3838284523333,
+            -2114.8812341039416,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1189.8838284523333,
+            -2117.4793103152947,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1220.0,
+            -2136.0,
+            -282.85
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-15-5_746349250/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-15-5_746349250/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a8d03353acc26ffc78f1efaf953d0f7322d0541c
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-15-5_746349250/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -923.6175273587166,
+            -2354.8963866523845,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -923.6175273587166,
+            -2351.8963866523845,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -923.6175273587166,
+            -2348.8963866523845,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -923.6175273587166,
+            -2345.8963866523845,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -923.6175273587166,
+            -2342.8963866523845,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -923.6175273587166,
+            -2339.8963866523845,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -923.6175273587166,
+            -2336.8963866523845,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -923.6175273587166,
+            -2336.8963866523845,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -925.1175273587166,
+            -2334.2983104410314,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -926.6175273587166,
+            -2331.7002342296782,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -928.1175273587166,
+            -2329.102158018325,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -929.6175273587166,
+            -2326.504081806972,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -931.1175273587166,
+            -2323.906005595619,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -931.1175273587166,
+            -2323.906005595619,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.570796326794925
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -931.1175273587166,
+            -2320.906005595619,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -931.1175273587166,
+            -2317.906005595619,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -936.0,
+            -2296.0,
+            -273.841
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-19-48_1821066342/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-19-48_1821066342/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bbe5b978ad9dd7702875aef76c5ce90faea1c1eb
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-19-48_1821066342/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -353.01973529925675,
+            -2183.9666791396185,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -351.51973529925675,
+            -2181.3686029282653,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -350.01973529925675,
+            -2178.770526716912,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -348.51973529925675,
+            -2176.172450505559,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -347.01973529925675,
+            -2173.574374294206,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -345.51973529925675,
+            -2170.9762980828527,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -344.01973529925675,
+            -2168.3782218714996,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -342.51973529925675,
+            -2165.7801456601464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -341.01973529925675,
+            -2163.1820694487933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -339.51973529925675,
+            -2160.58399323744,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -338.01973529925675,
+            -2157.985917026087,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -336.51973529925675,
+            -2155.387840814734,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -335.01973529925675,
+            -2152.7897646033807,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -333.51973529925675,
+            -2150.1916883920276,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -332.01973529925675,
+            -2147.5936121806744,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -330.51973529925675,
+            -2144.9955359693213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -329.01973529925675,
+            -2142.397459757968,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -327.51973529925675,
+            -2139.799383546615,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -326.01973529925675,
+            -2137.201307335262,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -324.51973529925675,
+            -2134.6032311239087,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -323.01973529925675,
+            -2132.0051549125556,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -323.01973529925675,
+            -2132.0051549125556,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -320.42165908790344,
+            -2130.5051549125556,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -317.8235828765501,
+            -2129.0051549125556,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -308.0,
+            -2116.0,
+            -276.593
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-35-58_1250801052/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-35-58_1250801052/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..215671fcb9c787f8e24035bfd569c120233acc2b
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-35-58_1250801052/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -894.3425814070511,
+            -1967.0522535521388,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -896.9406576184044,
+            -1965.5522535521388,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -899.5387338297578,
+            -1964.0522535521388,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -902.1368100411112,
+            -1962.5522535521388,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -904.7348862524645,
+            -1961.0522535521388,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -907.3329624638179,
+            -1959.5522535521388,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -909.9310386751713,
+            -1958.0522535521388,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -912.5291148865247,
+            -1956.5522535521388,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -915.127191097878,
+            -1955.0522535521388,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -917.7252673092314,
+            -1953.5522535521388,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -920.3233435205848,
+            -1952.0522535521388,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -922.9214197319382,
+            -1950.5522535521388,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -925.5194959432915,
+            -1949.0522535521388,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -925.5194959432915,
+            -1949.0522535521388,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -927.0194959432915,
+            -1946.4541773407855,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -928.5194959432915,
+            -1943.856101129432,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -930.0194959432915,
+            -1941.2580249180787,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -931.5194959432915,
+            -1938.6599487067253,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -933.0194959432915,
+            -1936.061872495372,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -956.0,
+            -1916.0,
+            -281.7
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-47-22_1534230297/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-47-22_1534230297/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c4af709cf389fca311d9f325c106ae7cf524e461
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-47-22_1534230297/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -348.0902059012532,
+            -2145.7075323136996,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -346.5902059012532,
+            -2148.305608525053,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -345.0902059012532,
+            -2150.903684736406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -343.5902059012532,
+            -2153.501760947759,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -342.0902059012532,
+            -2156.099837159112,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -340.5902059012532,
+            -2158.6979133704654,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -339.0902059012532,
+            -2161.2959895818185,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -337.5902059012532,
+            -2163.8940657931716,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -336.0902059012532,
+            -2166.492142004525,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -334.5902059012532,
+            -2169.090218215878,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -333.0902059012532,
+            -2171.688294427231,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -331.5902059012532,
+            -2174.2863706385842,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -331.5902059012532,
+            -2174.2863706385842,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -328.9921296898999,
+            -2175.7863706385842,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -326.3940534785466,
+            -2177.2863706385842,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -323.7959772671933,
+            -2178.7863706385842,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -321.19790105583996,
+            -2180.2863706385842,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -318.59982484448665,
+            -2181.7863706385842,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -316.00174863313333,
+            -2183.2863706385842,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -313.40367242178,
+            -2184.7863706385842,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -310.8055962104267,
+            -2186.2863706385842,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -308.2075199990734,
+            -2187.7863706385842,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -305.60944378772007,
+            -2189.2863706385842,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -305.60944378772007,
+            -2189.2863706385842,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -304.10944378772007,
+            -2191.8844468499374,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -302.60944378772007,
+            -2194.4825230612905,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -301.10944378772007,
+            -2197.0805992726437,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -299.60944378772007,
+            -2199.678675483997,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -288.0,
+            -2212.0,
+            -270.424
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-51-6_395191309/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-51-6_395191309/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6bbbedee27c720f059be16c7dbaa5a21676ad786
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-51-6_395191309/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1090.30580770115,
+            -2324.9048381244693,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1093.30580770115,
+            -2324.9048381244693,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1096.30580770115,
+            -2324.9048381244693,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1099.30580770115,
+            -2324.9048381244693,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1102.30580770115,
+            -2324.9048381244693,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1105.30580770115,
+            -2324.9048381244693,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1108.30580770115,
+            -2324.9048381244693,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1108.30580770115,
+            -2324.9048381244693,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1110.9038839125033,
+            -2323.4048381244693,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1113.5019601238566,
+            -2321.9048381244693,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1116.10003633521,
+            -2320.4048381244693,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1118.6981125465634,
+            -2318.9048381244693,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1156.0,
+            -2312.0,
+            -213.669
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-52-0_1907895021/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-52-0_1907895021/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9bb040de075db2f5640b69c3efe542b8ca117ad3
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-52-0_1907895021/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1365.18150694063,
+            -2259.175846742387,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1362.18150694063,
+            -2259.175846742387,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1359.18150694063,
+            -2259.175846742387,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1356.18150694063,
+            -2259.175846742387,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1353.18150694063,
+            -2259.175846742387,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1350.18150694063,
+            -2259.175846742387,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1347.18150694063,
+            -2259.175846742387,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1344.18150694063,
+            -2259.175846742387,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1341.18150694063,
+            -2259.175846742387,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1338.18150694063,
+            -2259.175846742387,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1335.18150694063,
+            -2259.175846742387,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1332.18150694063,
+            -2259.175846742387,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1332.18150694063,
+            -2259.175846742387,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1332.18150694063,
+            -2259.175846742387,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1330.68150694063,
+            -2256.577770531034,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1329.18150694063,
+            -2253.9796943196807,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1327.68150694063,
+            -2251.3816181083275,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1327.68150694063,
+            -2251.3816181083275,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1325.0834307292766,
+            -2249.8816181083275,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1322.4853545179233,
+            -2248.3816181083275,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1319.88727830657,
+            -2246.8816181083275,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1317.2892020952165,
+            -2245.3816181083275,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1314.6911258838632,
+            -2243.8816181083275,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1312.0930496725098,
+            -2242.3816181083275,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1309.4949734611564,
+            -2240.8816181083275,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1306.896897249803,
+            -2239.3816181083275,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1304.2988210384497,
+            -2237.8816181083275,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1301.7007448270963,
+            -2236.3816181083275,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1299.102668615743,
+            -2234.8816181083275,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1296.5045924043895,
+            -2233.3816181083275,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1293.9065161930362,
+            -2231.8816181083275,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1276.0,
+            -2224.0,
+            -282.55
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-53-22_1412277685/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-53-22_1412277685/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..28c18cf4d53b91a46dbefc55213f88d90c164408
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-53-22_1412277685/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            406.0505948701714,
+            -2276.2772815068656,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            407.5505948701714,
+            -2273.6792052955125,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            409.0505948701714,
+            -2271.0811290841593,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            410.5505948701714,
+            -2268.483052872806,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            412.0505948701714,
+            -2265.884976661453,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            413.5505948701714,
+            -2263.2869004501,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            415.0505948701714,
+            -2260.6888242387467,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            416.5505948701714,
+            -2258.0907480273936,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            418.0505948701714,
+            -2255.4926718160405,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            419.5505948701714,
+            -2252.8945956046873,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            421.0505948701714,
+            -2250.296519393334,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            422.5505948701714,
+            -2247.698443181981,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            424.0505948701714,
+            -2245.100366970628,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            425.5505948701714,
+            -2242.5022907592747,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            427.0505948701714,
+            -2239.9042145479216,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            428.5505948701714,
+            -2237.3061383365684,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            430.0505948701714,
+            -2234.7080621252153,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            431.5505948701714,
+            -2232.109985913862,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            433.0505948701714,
+            -2229.511909702509,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            433.0505948701714,
+            -2229.511909702509,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948681
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            433.0505948701714,
+            -2226.511909702509,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            433.0505948701714,
+            -2223.511909702509,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            433.0505948701714,
+            -2220.511909702509,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            433.0505948701714,
+            -2217.511909702509,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            433.0505948701714,
+            -2214.511909702509,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            440.0,
+            -2200.0,
+            -205.967
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-54-3_1088590930/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-54-3_1088590930/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..02f27fab472d7d21260f90785c3e6157d4147d6d
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-54-3_1088590930/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1019.4223999123366,
+            -2304.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1016.4223999123366,
+            -2304.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1013.4223999123366,
+            -2304.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1010.4223999123366,
+            -2304.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1007.4223999123366,
+            -2304.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1004.4223999123366,
+            -2304.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1001.4223999123366,
+            -2304.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -998.4223999123366,
+            -2304.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -995.4223999123366,
+            -2304.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -992.4223999123366,
+            -2304.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -989.4223999123366,
+            -2304.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -986.4223999123366,
+            -2304.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -983.4223999123366,
+            -2304.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -980.4223999123366,
+            -2304.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -977.4223999123366,
+            -2304.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -974.4223999123366,
+            -2304.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -971.4223999123366,
+            -2304.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -968.4223999123366,
+            -2304.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -965.4223999123366,
+            -2304.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -965.4223999123366,
+            -2304.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -962.8243237009833,
+            -2303.2655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -960.2262474896299,
+            -2301.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -957.6281712782766,
+            -2300.2655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -955.0300950669232,
+            -2298.7655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -952.4320188555698,
+            -2297.2655138299415,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -952.4320188555698,
+            -2297.2655138299415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -949.4320188555698,
+            -2297.2655138299415,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -936.0,
+            -2296.0,
+            -273.841
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-58-14_1663080928/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-58-14_1663080928/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2eafa4b97b3a1364bc741714d29dae9e65072270
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-58-14_1663080928/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1024.1755680985211,
+            -1929.4661590707788,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1025.6755680985211,
+            -1932.0642352821321,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1027.1755680985211,
+            -1934.6623114934855,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1028.6755680985211,
+            -1937.2603877048389,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1030.1755680985211,
+            -1939.8584639161922,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1031.6755680985211,
+            -1942.4565401275456,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1033.1755680985211,
+            -1945.054616338899,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1034.6755680985211,
+            -1947.6526925502524,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1036.1755680985211,
+            -1950.2507687616057,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1037.6755680985211,
+            -1952.8488449729591,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1039.1755680985211,
+            -1955.4469211843125,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1040.6755680985211,
+            -1958.0449973956659,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1042.1755680985211,
+            -1960.6430736070192,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1043.6755680985211,
+            -1963.2411498183726,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1045.1755680985211,
+            -1965.839226029726,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1046.6755680985211,
+            -1968.4373022410794,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1048.1755680985211,
+            -1971.0353784524327,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1049.6755680985211,
+            -1973.633454663786,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1051.1755680985211,
+            -1976.2315308751395,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1052.6755680985211,
+            -1978.8296070864928,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1054.1755680985211,
+            -1981.4276832978462,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1055.6755680985211,
+            -1984.0257595091996,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1060.0,
+            -1996.0,
+            -262.828
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-7-13_672032919/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-7-13_672032919/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..538b667fd132f7bfb41d8416ac086288f129aab7
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-7-13_672032919/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            210.06556268564935,
+            -1613.7797505457797,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            211.56556268564935,
+            -1616.377826757133,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            213.06556268564935,
+            -1618.9759029684865,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            214.56556268564935,
+            -1621.5739791798399,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            216.06556268564935,
+            -1624.1720553911932,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            217.56556268564935,
+            -1626.7701316025466,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            219.06556268564935,
+            -1629.3682078139,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            220.56556268564935,
+            -1631.9662840252533,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            222.06556268564935,
+            -1634.5643602366067,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            223.56556268564935,
+            -1637.16243644796,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            225.06556268564935,
+            -1639.7605126593135,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            226.56556268564935,
+            -1642.3585888706668,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            228.06556268564935,
+            -1644.9566650820202,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            229.56556268564935,
+            -1647.5547412933736,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            231.06556268564935,
+            -1650.152817504727,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            232.56556268564935,
+            -1652.7508937160803,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            234.06556268564935,
+            -1655.3489699274337,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            234.06556268564935,
+            -1655.3489699274337,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            234.06556268564935,
+            -1658.3489699274337,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            234.06556268564935,
+            -1661.3489699274337,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            234.06556268564935,
+            -1664.3489699274337,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            234.06556268564935,
+            -1667.3489699274337,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            234.06556268564935,
+            -1670.3489699274337,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            234.06556268564935,
+            -1673.3489699274337,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            234.06556268564935,
+            -1676.3489699274337,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            234.06556268564935,
+            -1679.3489699274337,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            234.06556268564935,
+            -1682.3489699274337,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            234.06556268564935,
+            -1685.3489699274337,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1704.0,
+            -282.55
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-16-42_750167716/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-16-42_750167716/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2ed59fbb538e4d596feac3a54653a91b33f53090
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-16-42_750167716/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -455.88105016542494,
+            -2551.17655518334,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -454.38105016542494,
+            -2553.774631394693,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -452.88105016542494,
+            -2556.3727076060463,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -451.38105016542494,
+            -2558.9707838173995,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -449.88105016542494,
+            -2561.5688600287526,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -448.38105016542494,
+            -2564.1669362401058,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -446.88105016542494,
+            -2566.765012451459,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -445.38105016542494,
+            -2569.363088662812,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -408.0,
+            -2636.0,
+            -282.138
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-17-37_108375482/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-17-37_108375482/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..abe2b7f8f97d317758baff78e2cdf7c93b9d2aca
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-17-37_108375482/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1231.0193663813254,
+            -2516.1331878501674,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1229.5193663813254,
+            -2513.535111638814,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1228.0193663813254,
+            -2510.937035427461,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1226.5193663813254,
+            -2508.338959216108,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1225.0193663813254,
+            -2505.740883004755,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1223.5193663813254,
+            -2503.1428067934016,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1222.0193663813254,
+            -2500.5447305820485,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1220.5193663813254,
+            -2497.9466543706953,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1219.0193663813254,
+            -2495.348578159342,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1217.5193663813254,
+            -2492.750501947989,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1216.0193663813254,
+            -2490.152425736636,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1214.5193663813254,
+            -2487.5543495252828,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1213.0193663813254,
+            -2484.9562733139296,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1211.5193663813254,
+            -2482.3581971025765,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1210.0193663813254,
+            -2479.7601208912233,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1208.5193663813254,
+            -2477.16204467987,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1207.0193663813254,
+            -2474.563968468517,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1205.5193663813254,
+            -2471.965892257164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1204.0193663813254,
+            -2469.3678160458107,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1188.0,
+            -2444.0,
+            -273.841
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-20-13_1466942491/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-20-13_1466942491/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b8d9311373dc17367b6cb16c377c7fc743c05437
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-20-13_1466942491/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            799.0893155781904,
+            -1470.759189009695,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            796.4912393668371,
+            -1469.259189009695,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            793.8931631554838,
+            -1467.759189009695,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            791.2950869441304,
+            -1466.259189009695,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            788.697010732777,
+            -1464.759189009695,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            786.0989345214236,
+            -1463.259189009695,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            783.5008583100703,
+            -1461.759189009695,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            780.9027820987169,
+            -1460.259189009695,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            778.3047058873635,
+            -1458.759189009695,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            775.7066296760102,
+            -1457.259189009695,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            773.1085534646568,
+            -1455.759189009695,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            770.5104772533034,
+            -1454.259189009695,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            767.91240104195,
+            -1452.759189009695,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            765.3143248305967,
+            -1451.259189009695,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            762.7162486192433,
+            -1449.759189009695,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            760.1181724078899,
+            -1448.259189009695,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            757.5200961965365,
+            -1446.759189009695,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            736.0,
+            -1436.0,
+            -282.85
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-22-48_849725352/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-22-48_849725352/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f182383a2344e94e09b47659b8c4a78652f89c7f
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-22-48_849725352/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            241.69755166450716,
+            -1683.8395733975299,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            238.69755166450716,
+            -1683.8395733975299,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            235.69755166450716,
+            -1683.8395733975299,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            232.69755166450716,
+            -1683.8395733975299,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            229.69755166450716,
+            -1683.8395733975299,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            226.69755166450716,
+            -1683.8395733975299,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            223.69755166450716,
+            -1683.8395733975299,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            220.69755166450716,
+            -1683.8395733975299,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            217.69755166450716,
+            -1683.8395733975299,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            214.69755166450716,
+            -1683.8395733975299,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            211.69755166450716,
+            -1683.8395733975299,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            211.69755166450716,
+            -1683.8395733975299,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            209.09947545315384,
+            -1685.3395733975299,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            206.50139924180053,
+            -1686.8395733975299,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            203.9033230304472,
+            -1688.3395733975299,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            201.3052468190939,
+            -1689.8395733975299,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            198.70717060774058,
+            -1691.3395733975299,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            196.10909439638726,
+            -1692.8395733975299,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            193.51101818503395,
+            -1694.3395733975299,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            164.0,
+            -1704.0,
+            -273.842
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-27-14_987706141/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-27-14_987706141/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b7bcd7c246338107a37f5cb302dbac10c27f700
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-27-14_987706141/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -902.2947467036672,
+            -1850.799394525412,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -903.7947467036672,
+            -1853.3974707367654,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -905.2947467036672,
+            -1855.9955469481188,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -906.7947467036672,
+            -1858.5936231594721,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -908.2947467036672,
+            -1861.1916993708255,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -909.7947467036672,
+            -1863.789775582179,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -911.2947467036672,
+            -1866.3878517935323,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -912.7947467036672,
+            -1868.9859280048856,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -914.2947467036672,
+            -1871.584004216239,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -915.7947467036672,
+            -1874.1820804275924,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -917.2947467036672,
+            -1876.7801566389458,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -918.7947467036672,
+            -1879.3782328502991,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -918.7947467036672,
+            -1879.3782328502991,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -921.3928229150206,
+            -1880.8782328502991,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -923.990899126374,
+            -1882.3782328502991,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -926.5889753377273,
+            -1883.8782328502991,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -929.1870515490807,
+            -1885.3782328502991,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -931.7851277604341,
+            -1886.8782328502991,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -956.0,
+            -1916.0,
+            -281.7
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-28-26_1724916170/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-28-26_1724916170/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..04b026106b08a45a24bf3933c674db43dbfd68c9
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-28-26_1724916170/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            683.2627017011159,
+            -2167.1340345102417,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            681.7627017011159,
+            -2164.5359582988885,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            680.2627017011159,
+            -2161.9378820875354,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            678.7627017011159,
+            -2159.3398058761823,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            677.2627017011159,
+            -2156.741729664829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            675.7627017011159,
+            -2154.143653453476,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            674.2627017011159,
+            -2151.545577242123,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            672.7627017011159,
+            -2148.9475010307697,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            672.7627017011159,
+            -2148.9475010307697,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915224
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            670.1646254897626,
+            -2147.4475010307697,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            667.5665492784092,
+            -2145.9475010307697,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            664.9684730670558,
+            -2144.4475010307697,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            640.0,
+            -2120.0,
+            -281.704
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-32-12_1092637289/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-32-12_1092637289/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ce8aad1c0e76477cc25ee8d787a04f2e7c68d301
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-32-12_1092637289/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1215.7309890379818,
+            -2207.887276516818,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1215.7309890379818,
+            -2204.887276516818,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1215.7309890379818,
+            -2201.887276516818,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1215.7309890379818,
+            -2198.887276516818,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1215.7309890379818,
+            -2195.887276516818,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1215.7309890379818,
+            -2192.887276516818,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1215.7309890379818,
+            -2189.887276516818,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1215.7309890379818,
+            -2186.887276516818,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1215.7309890379818,
+            -2183.887276516818,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1215.7309890379818,
+            -2180.887276516818,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1215.7309890379818,
+            -2177.887276516818,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1215.7309890379818,
+            -2174.887276516818,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1215.7309890379818,
+            -2171.887276516818,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1215.7309890379818,
+            -2168.887276516818,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1215.7309890379818,
+            -2165.887276516818,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1215.7309890379818,
+            -2162.887276516818,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1215.7309890379818,
+            -2159.887276516818,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1220.0,
+            -2136.0,
+            -282.85
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-32-24_10150109/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-32-24_10150109/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..39fedb397e5e749eddba63aef81c1ebb9aacd998
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-32-24_10150109/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -610.257069355539,
+            -2353.517912349817,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -608.757069355539,
+            -2350.919836138464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -607.257069355539,
+            -2348.3217599271106,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -605.757069355539,
+            -2345.7236837157575,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -604.257069355539,
+            -2343.1256075044043,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -602.757069355539,
+            -2340.527531293051,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -601.257069355539,
+            -2337.929455081698,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -599.757069355539,
+            -2335.331378870345,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -598.257069355539,
+            -2332.7333026589918,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -598.257069355539,
+            -2332.7333026589918,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -595.6589931441856,
+            -2331.2333026589918,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -593.0609169328322,
+            -2329.7333026589918,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -572.0,
+            -2300.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-40-1_1372668364/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-40-1_1372668364/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..705f04094a45d49c13a1e6de2a1488fbd30f0305
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-40-1_1372668364/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -884.0218013275023,
+            -2967.976453597591,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -886.6198775388557,
+            -2966.476453597591,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -889.2179537502091,
+            -2964.976453597591,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -891.8160299615624,
+            -2963.476453597591,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -894.4141061729158,
+            -2961.976453597591,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -897.0121823842692,
+            -2960.476453597591,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -899.6102585956226,
+            -2958.976453597591,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -902.2083348069759,
+            -2957.476453597591,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -904.8064110183293,
+            -2955.976453597591,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -907.4044872296827,
+            -2954.476453597591,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -910.002563441036,
+            -2952.976453597591,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -912.6006396523894,
+            -2951.476453597591,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -940.0,
+            -2936.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-55-1_895873480/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-55-1_895873480/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f3b22749cd98afec60630e67f5cfbddfe59a8c41
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-55-1_895873480/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            442.3792956088024,
+            -2274.202169641295,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            440.8792956088024,
+            -2271.6040934299417,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            439.3792956088024,
+            -2269.0060172185886,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            437.8792956088024,
+            -2266.4079410072354,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            436.3792956088024,
+            -2263.8098647958823,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            434.8792956088024,
+            -2261.211788584529,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            433.3792956088024,
+            -2258.613712373176,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            431.8792956088024,
+            -2256.015636161823,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            431.8792956088024,
+            -2256.015636161823,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915224
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            429.2812193974491,
+            -2254.515636161823,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            426.6831431860958,
+            -2253.015636161823,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            424.08506697474246,
+            -2251.515636161823,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            421.48699076338914,
+            -2250.015636161823,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            418.8889145520358,
+            -2248.515636161823,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            418.8889145520358,
+            -2248.515636161823,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            417.3889145520358,
+            -2245.9175599504697,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            415.8889145520358,
+            -2243.3194837391165,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            384.0,
+            -2208.0,
+            -276.879
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-57-53_649785905/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-57-53_649785905/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..00e083b131aebffac06e537b335d429c83cfeb82
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-57-53_649785905/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            904.6498584783916,
+            -1452.436125877729,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            906.1498584783916,
+            -1449.8380496663756,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            907.6498584783916,
+            -1447.2399734550222,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            909.1498584783916,
+            -1444.6418972436688,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            910.6498584783916,
+            -1442.0438210323155,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            912.1498584783916,
+            -1439.445744820962,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            913.6498584783916,
+            -1436.8476686096087,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            915.1498584783916,
+            -1434.2495923982553,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            916.6498584783916,
+            -1431.651516186902,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            918.1498584783916,
+            -1429.0534399755486,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            919.6498584783916,
+            -1426.4553637641952,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            921.1498584783916,
+            -1423.8572875528419,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            922.6498584783916,
+            -1421.2592113414885,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            924.1498584783916,
+            -1418.661135130135,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            925.6498584783916,
+            -1416.0630589187817,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            927.1498584783916,
+            -1413.4649827074284,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            928.6498584783916,
+            -1410.866906496075,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            930.1498584783916,
+            -1408.2688302847216,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            931.6498584783916,
+            -1405.6707540733682,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            933.1498584783916,
+            -1403.0726778620149,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            934.6498584783916,
+            -1400.4746016506615,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            936.1498584783916,
+            -1397.8765254393081,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            952.0,
+            -1368.0,
+            -273.983
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-8-30_1396918184/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-8-30_1396918184/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9b9dcfeac77463af89983d8f1cce9639acb66983
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-8-30_1396918184/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            98.01443024907061,
+            -1687.1047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            100.61250646042393,
+            -1685.6047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            103.21058267177725,
+            -1684.1047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            105.80865888313056,
+            -1682.6047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            108.40673509448388,
+            -1681.1047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            111.0048113058372,
+            -1679.6047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            113.60288751719051,
+            -1678.1047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            116.20096372854383,
+            -1676.6047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            118.79903993989714,
+            -1675.1047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            121.39711615125046,
+            -1673.6047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            123.99519236260377,
+            -1672.1047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            126.59326857395709,
+            -1670.6047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            129.1913447853104,
+            -1669.1047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            131.78942099666372,
+            -1667.6047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            134.38749720801704,
+            -1666.1047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            136.98557341937035,
+            -1664.6047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            139.58364963072367,
+            -1663.1047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            142.181725842077,
+            -1661.6047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            144.7798020534303,
+            -1660.1047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            147.37787826478362,
+            -1658.6047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            149.97595447613693,
+            -1657.1047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            152.57403068749025,
+            -1655.6047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            155.17210689884357,
+            -1654.1047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            157.77018311019688,
+            -1652.6047728355059,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            157.77018311019688,
+            -1652.6047728355059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            159.27018311019688,
+            -1650.0066966241525,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            160.77018311019688,
+            -1647.408620412799,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            162.27018311019688,
+            -1644.8105442014457,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            176.0,
+            -1636.0,
+            -273.842
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-9-2_376696776/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-9-2_376696776/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c133df07c8e4738d2c4ba44c3ce7e0212496544c
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-9-2_376696776/pose.jsonl
@@ -0,0 +1,54 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            514.5509800802489,
+            -2478.6019464327815,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            513.0509800802489,
+            -2481.2000226441346,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            511.5509800802489,
+            -2483.7980988554878,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            464.0,
+            -2560.0,
+            -281.726
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-9-35_1664423428/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-9-35_1664423428/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4250315fa36e3a640dffadde5c8620b17e5c998c
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-9-35_1664423428/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -326.5231329393417,
+            -1407.253059361006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -323.92505672798836,
+            -1408.753059361006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -321.32698051663505,
+            -1410.253059361006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -318.72890430528173,
+            -1411.753059361006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -316.1308280939284,
+            -1413.253059361006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -313.5327518825751,
+            -1414.753059361006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -310.9346756712218,
+            -1416.253059361006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -308.33659945986847,
+            -1417.753059361006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -305.73852324851515,
+            -1419.253059361006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -303.14044703716183,
+            -1420.753059361006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -300.5423708258085,
+            -1422.253059361006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -297.9442946144552,
+            -1423.753059361006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -295.3462184031019,
+            -1425.253059361006,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -295.3462184031019,
+            -1425.253059361006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -293.8462184031019,
+            -1427.8511355723595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -292.3462184031019,
+            -1430.4492117837128,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -290.8462184031019,
+            -1433.0472879950662,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -268.0,
+            -1452.0,
+            -201.911
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-10-9_1560890244/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-10-9_1560890244/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2a75591b53350a7f35eef6ecebd1e86e8c811696
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-10-9_1560890244/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -342.6039223237907,
+            -1466.7358791629908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -339.6039223237907,
+            -1466.7358791629908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -336.6039223237907,
+            -1466.7358791629908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -333.6039223237907,
+            -1466.7358791629908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -330.6039223237907,
+            -1466.7358791629908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -327.6039223237907,
+            -1466.7358791629908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -324.6039223237907,
+            -1466.7358791629908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -321.6039223237907,
+            -1466.7358791629908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -318.6039223237907,
+            -1466.7358791629908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -315.6039223237907,
+            -1466.7358791629908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -312.6039223237907,
+            -1466.7358791629908,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -312.6039223237907,
+            -1466.7358791629908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -310.0058461124374,
+            -1465.2358791629908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -307.40776990108407,
+            -1463.7358791629908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -304.80969368973075,
+            -1462.2358791629908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -302.21161747837743,
+            -1460.7358791629908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -299.6135412670241,
+            -1459.2358791629908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -297.0154650556708,
+            -1457.7358791629908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -294.4173888443175,
+            -1456.2358791629908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -291.81931263296417,
+            -1454.7358791629908,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -268.0,
+            -1452.0,
+            -201.911
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-11-55_819485269/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-11-55_819485269/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1e064e9ca6efc2d2f0cb20ca46e2394b51f16d10
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-11-55_819485269/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            314.0259100873771,
+            -2273.9847209138406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            316.6239862987304,
+            -2272.4847209138406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            319.22206251008373,
+            -2270.9847209138406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            321.82013872143705,
+            -2269.4847209138406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            324.41821493279036,
+            -2267.9847209138406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            327.0162911441437,
+            -2266.4847209138406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            329.614367355497,
+            -2264.9847209138406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            332.2124435668503,
+            -2263.4847209138406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            334.8105197782036,
+            -2261.9847209138406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            337.40859598955694,
+            -2260.4847209138406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            340.00667220091026,
+            -2258.9847209138406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            342.6047484122636,
+            -2257.4847209138406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            345.2028246236169,
+            -2255.9847209138406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            347.8009008349702,
+            -2254.4847209138406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            350.3989770463235,
+            -2252.9847209138406,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            350.3989770463235,
+            -2252.9847209138406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            351.8989770463235,
+            -2250.3866447024875,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            353.3989770463235,
+            -2247.7885684911344,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            354.8989770463235,
+            -2245.190492279781,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            356.3989770463235,
+            -2242.592416068428,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            357.8989770463235,
+            -2239.994339857075,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            359.3989770463235,
+            -2237.396263645722,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            360.8989770463235,
+            -2234.7981874343686,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            362.3989770463235,
+            -2232.2001112230155,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            363.8989770463235,
+            -2229.6020350116623,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            365.3989770463235,
+            -2227.003958800309,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            366.8989770463235,
+            -2224.405882588956,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            384.0,
+            -2208.0,
+            -276.879
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-16-4_1028363610/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-16-4_1028363610/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..84c3a5b62375f16149809affbf7f6300ef5c0a47
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-16-4_1028363610/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1007.5723430513481,
+            -1313.1395673587301,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1004.9742668399947,
+            -1314.6395673587301,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1002.3761906286413,
+            -1316.1395673587301,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            999.778114417288,
+            -1317.6395673587301,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            997.1800382059346,
+            -1319.1395673587301,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            994.5819619945812,
+            -1320.6395673587301,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            991.9838857832278,
+            -1322.1395673587301,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            989.3858095718745,
+            -1323.6395673587301,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            986.7877333605211,
+            -1325.1395673587301,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            984.1896571491677,
+            -1326.6395673587301,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            981.5915809378143,
+            -1328.1395673587301,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            981.5915809378143,
+            -1328.1395673587301,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            980.0915809378143,
+            -1330.7376435700835,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            978.5915809378143,
+            -1333.3357197814369,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            977.0915809378143,
+            -1335.9337959927902,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            975.5915809378143,
+            -1338.5318722041436,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            974.0915809378143,
+            -1341.129948415497,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            972.5915809378143,
+            -1343.7280246268504,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            971.0915809378143,
+            -1346.3261008382037,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            969.5915809378143,
+            -1348.924177049557,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            968.0915809378143,
+            -1351.5222532609105,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            952.0,
+            -1368.0,
+            -273.983
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-23-38_1604665417/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-23-38_1604665417/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9df68c1ddbe4539a955fb49207760703a626a6a2
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-23-38_1604665417/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            211.81303508888328,
+            -1131.1416924466585,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            213.31303508888328,
+            -1133.7397686580118,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            214.81303508888328,
+            -1136.3378448693652,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            216.31303508888328,
+            -1138.9359210807186,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            217.81303508888328,
+            -1141.533997292072,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            219.31303508888328,
+            -1144.1320735034253,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            220.81303508888328,
+            -1146.7301497147787,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            222.31303508888328,
+            -1149.328225926132,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            223.81303508888328,
+            -1151.9263021374854,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            225.31303508888328,
+            -1154.5243783488388,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            226.81303508888328,
+            -1157.1224545601922,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            228.31303508888328,
+            -1159.7205307715456,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            228.31303508888328,
+            -1159.7205307715456,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            228.31303508888328,
+            -1162.7205307715456,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            228.31303508888328,
+            -1165.7205307715456,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            228.31303508888328,
+            -1168.7205307715456,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            228.31303508888328,
+            -1171.7205307715456,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            228.31303508888328,
+            -1174.7205307715456,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            228.31303508888328,
+            -1177.7205307715456,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            228.31303508888328,
+            -1180.7205307715456,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1220.0,
+            -281.7
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-23-5_671068506/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-23-5_671068506/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..685fc85b1ebe007d0d5977441ca72c597af48d56
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-23-5_671068506/pose.jsonl
@@ -0,0 +1,80 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -107.65424110189468,
+            -2463.7373643750725,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -107.65424110189468,
+            -2466.7373643750725,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -107.65424110189468,
+            -2469.7373643750725,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -107.65424110189468,
+            -2472.7373643750725,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -107.65424110189468,
+            -2475.7373643750725,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -104.0,
+            -2560.0,
+            -261.672
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-46-1_2003980519/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-46-1_2003980519/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4a7b33bcc97d243ba02bb988967664abc19507d1
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-46-1_2003980519/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1032.4110932892972,
+            -1958.9789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1029.8130170779439,
+            -1957.4789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1027.2149408665905,
+            -1955.9789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1024.6168646552371,
+            -1954.4789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1022.0187884438838,
+            -1952.9789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1019.4207122325304,
+            -1951.4789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1016.822636021177,
+            -1949.9789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1014.2245598098236,
+            -1948.4789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1011.6264835984703,
+            -1946.9789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1009.0284073871169,
+            -1945.4789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1006.4303311757635,
+            -1943.9789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1003.8322549644101,
+            -1942.4789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1001.2341787530568,
+            -1940.9789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -998.6361025417034,
+            -1939.4789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -996.03802633035,
+            -1937.9789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -993.4399501189966,
+            -1936.4789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -990.8418739076433,
+            -1934.9789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -988.2437976962899,
+            -1933.4789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -985.6457214849365,
+            -1931.9789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -983.0476452735832,
+            -1930.4789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -980.4495690622298,
+            -1928.9789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -977.8514928508764,
+            -1927.4789241995495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -975.253416639523,
+            -1925.9789241995495,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -956.0,
+            -1916.0,
+            -281.7
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-47-48_185963953/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-47-48_185963953/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6c45d3f0fea9bd0a0584d1d43b4c4850f1fda4df
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-47-48_185963953/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            837.7261249509278,
+            -1508.7450409913586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            835.1280487395745,
+            -1507.2450409913586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            832.5299725282212,
+            -1505.7450409913586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            829.9318963168678,
+            -1504.2450409913586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            827.3338201055144,
+            -1502.7450409913586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            824.735743894161,
+            -1501.2450409913586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            822.1376676828077,
+            -1499.7450409913586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            819.5395914714543,
+            -1498.2450409913586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            816.9415152601009,
+            -1496.7450409913586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            814.3434390487475,
+            -1495.2450409913586,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            814.3434390487475,
+            -1495.2450409913586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            811.3434390487475,
+            -1495.2450409913586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            808.3434390487475,
+            -1495.2450409913586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            805.3434390487475,
+            -1495.2450409913586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            802.3434390487475,
+            -1495.2450409913586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            799.3434390487475,
+            -1495.2450409913586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            796.3434390487475,
+            -1495.2450409913586,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            760.0,
+            -1484.0,
+            -268.846
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-51-52_1702022939/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-51-52_1702022939/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e713070360e2e4bac6d5a3bb27e569f9be3469ac
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-51-52_1702022939/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -292.3482260810281,
+            -2392.7694805816923,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -292.3482260810281,
+            -2389.7694805816923,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -292.3482260810281,
+            -2386.7694805816923,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -292.3482260810281,
+            -2383.7694805816923,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -292.3482260810281,
+            -2380.7694805816923,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -292.3482260810281,
+            -2377.7694805816923,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -292.3482260810281,
+            -2374.7694805816923,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -292.3482260810281,
+            -2371.7694805816923,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -292.3482260810281,
+            -2368.7694805816923,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -292.3482260810281,
+            -2365.7694805816923,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -292.3482260810281,
+            -2362.7694805816923,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -292.3482260810281,
+            -2359.7694805816923,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -292.3482260810281,
+            -2356.7694805816923,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -296.0,
+            -2316.0,
+            -261.698
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-55-6_1316953165/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-55-6_1316953165/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..837370417e741647c933a135b2f45b2a8b666e58
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-55-6_1316953165/pose.jsonl
@@ -0,0 +1,93 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            86.35731581876226,
+            -2474.11434189001,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            87.85731581876226,
+            -2476.7124181013633,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            89.35731581876226,
+            -2479.3104943127164,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            89.35731581876226,
+            -2479.3104943127164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948681
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            89.35731581876226,
+            -2482.3104943127164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            89.35731581876226,
+            -2485.3104943127164,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            112.0,
+            -2564.0,
+            -281.474
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-59-9_464837581/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-59-9_464837581/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4d988d2ec41c58600e0f69a786b78601b4989c97
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-59-9_464837581/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -994.9523423591822,
+            -1818.892450336768,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -993.4523423591822,
+            -1816.2943741254146,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -991.9523423591822,
+            -1813.6962979140612,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -990.4523423591822,
+            -1811.0982217027079,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -988.9523423591822,
+            -1808.5001454913545,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -987.4523423591822,
+            -1805.9020692800011,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -985.9523423591822,
+            -1803.3039930686477,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -985.9523423591822,
+            -1803.3039930686477,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -983.3542661478289,
+            -1801.8039930686477,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -980.7561899364755,
+            -1800.3039930686477,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -978.1581137251221,
+            -1798.8039930686477,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -975.5600375137687,
+            -1797.3039930686477,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -972.9619613024154,
+            -1795.8039930686477,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -970.363885091062,
+            -1794.3039930686477,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -967.7658088797086,
+            -1792.8039930686477,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -967.7658088797086,
+            -1792.8039930686477,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -966.2658088797086,
+            -1790.2059168572944,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -964.7658088797086,
+            -1787.607840645941,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -948.0,
+            -1768.0,
+            -262.628
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-0-19_102524643/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-0-19_102524643/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c39445339ed2927a900426339665cee6c3ab6e5a
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-0-19_102524643/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            236.43996963212305,
+            -1665.3745888411586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            233.84189342076974,
+            -1663.8745888411586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            231.24381720941642,
+            -1662.3745888411586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            228.6457409980631,
+            -1660.8745888411586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            226.0476647867098,
+            -1659.3745888411586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            223.44958857535647,
+            -1657.8745888411586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            220.85151236400316,
+            -1656.3745888411586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            218.25343615264984,
+            -1654.8745888411586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            215.65535994129652,
+            -1653.3745888411586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            213.0572837299432,
+            -1651.8745888411586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            210.4592075185899,
+            -1650.3745888411586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            207.86113130723658,
+            -1648.8745888411586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            205.26305509588326,
+            -1647.3745888411586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            202.66497888452994,
+            -1645.8745888411586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            200.06690267317663,
+            -1644.3745888411586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            197.4688264618233,
+            -1642.8745888411586,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            197.4688264618233,
+            -1642.8745888411586,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            194.4688264618233,
+            -1642.8745888411586,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            176.0,
+            -1636.0,
+            -273.842
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-14-3_1048938329/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-14-3_1048938329/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1c923c884059cf5cb585b5bf1eeb739e1fa1a294
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-14-3_1048938329/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            956.8577697627844,
+            -2248.150217428143,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            959.8577697627844,
+            -2248.150217428143,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            962.8577697627844,
+            -2248.150217428143,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            965.8577697627844,
+            -2248.150217428143,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            968.8577697627844,
+            -2248.150217428143,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            971.8577697627844,
+            -2248.150217428143,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            974.8577697627844,
+            -2248.150217428143,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            977.8577697627844,
+            -2248.150217428143,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            980.8577697627844,
+            -2248.150217428143,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            980.8577697627844,
+            -2248.150217428143,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            980.8577697627844,
+            -2248.150217428143,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            982.3577697627844,
+            -2245.55214121679,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            983.8577697627844,
+            -2242.954065005437,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            985.3577697627844,
+            -2240.3559887940837,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            985.3577697627844,
+            -2240.3559887940837,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            987.9558459741377,
+            -2238.8559887940837,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            990.553922185491,
+            -2237.3559887940837,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            993.1519983968444,
+            -2235.8559887940837,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            995.7500746081978,
+            -2234.3559887940837,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            998.3481508195512,
+            -2232.8559887940837,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1000.9462270309045,
+            -2231.3559887940837,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1003.5443032422579,
+            -2229.8559887940837,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1006.1423794536113,
+            -2228.3559887940837,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1008.7404556649647,
+            -2226.8559887940837,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1011.338531876318,
+            -2225.3559887940837,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1013.9366080876714,
+            -2223.8559887940837,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1040.0,
+            -2212.0,
+            -236.14
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-2-45_1242754098/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-2-45_1242754098/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6b8a0c4170ffc059b90b70ecfc0376ced6e7825d
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-2-45_1242754098/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1286.4817724491056,
+            -2299.6148079714276,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1286.4817724491056,
+            -2296.6148079714276,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1286.4817724491056,
+            -2293.6148079714276,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1286.4817724491056,
+            -2290.6148079714276,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1286.4817724491056,
+            -2287.6148079714276,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1286.4817724491056,
+            -2284.6148079714276,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1286.4817724491056,
+            -2281.6148079714276,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1286.4817724491056,
+            -2278.6148079714276,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1286.4817724491056,
+            -2275.6148079714276,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1286.4817724491056,
+            -2272.6148079714276,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1286.4817724491056,
+            -2269.6148079714276,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1286.4817724491056,
+            -2266.6148079714276,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1286.4817724491056,
+            -2263.6148079714276,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1286.4817724491056,
+            -2263.6148079714276,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1284.9817724491056,
+            -2261.0167317600744,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1283.4817724491056,
+            -2258.4186555487213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1281.9817724491056,
+            -2255.820579337368,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1280.4817724491056,
+            -2253.222503126015,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1278.9817724491056,
+            -2250.624426914662,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1276.0,
+            -2224.0,
+            -282.55
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-22-7_1793256508/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-22-7_1793256508/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e1d2daafd1f979c8b4c987f5e2e74290ea534390
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-22-7_1793256508/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            723.80612510648,
+            -2123.2585889526804,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            720.80612510648,
+            -2123.2585889526804,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            717.80612510648,
+            -2123.2585889526804,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            714.80612510648,
+            -2123.2585889526804,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            711.80612510648,
+            -2123.2585889526804,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            708.80612510648,
+            -2123.2585889526804,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            705.80612510648,
+            -2123.2585889526804,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            702.80612510648,
+            -2123.2585889526804,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            699.80612510648,
+            -2123.2585889526804,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            696.80612510648,
+            -2123.2585889526804,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            693.80612510648,
+            -2123.2585889526804,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            690.80612510648,
+            -2123.2585889526804,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            687.80612510648,
+            -2123.2585889526804,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            684.80612510648,
+            -2123.2585889526804,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            640.0,
+            -2120.0,
+            -281.704
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-27-10_701539807/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-27-10_701539807/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..45b7bd871c84a466e60275163d4fda0f2d4d273f
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-27-10_701539807/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -513.2490189916542,
+            -1835.6388145110875,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -516.2490189916542,
+            -1835.6388145110875,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -519.2490189916542,
+            -1835.6388145110875,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -522.2490189916542,
+            -1835.6388145110875,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -525.2490189916542,
+            -1835.6388145110875,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -528.2490189916542,
+            -1835.6388145110875,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -531.2490189916542,
+            -1835.6388145110875,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -534.2490189916542,
+            -1835.6388145110875,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -534.2490189916542,
+            -1835.6388145110875,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -536.8470952030075,
+            -1834.1388145110875,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -539.4451714143609,
+            -1832.6388145110875,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -542.0432476257142,
+            -1831.1388145110875,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -576.0,
+            -1824.0,
+            -273.783
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-36-0_382926234/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-36-0_382926234/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..de89b2af48dd28dec4ba05fd65032dadd3288301
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-36-0_382926234/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -894.454323457646,
+            -1917.6866890810386,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -897.454323457646,
+            -1917.6866890810386,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -900.454323457646,
+            -1917.6866890810386,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -903.454323457646,
+            -1917.6866890810386,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -906.454323457646,
+            -1917.6866890810386,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -909.454323457646,
+            -1917.6866890810386,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -912.454323457646,
+            -1917.6866890810386,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -915.454323457646,
+            -1917.6866890810386,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -918.454323457646,
+            -1917.6866890810386,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -921.454323457646,
+            -1917.6866890810386,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -924.454323457646,
+            -1917.6866890810386,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -927.454323457646,
+            -1917.6866890810386,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -930.454323457646,
+            -1917.6866890810386,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -956.0,
+            -1916.0,
+            -281.7
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-4-16_1204868098/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-4-16_1204868098/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..06306c288d294a4d6f1e151ad75befbe290c40d5
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-4-16_1204868098/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -624.5951395437976,
+            -1896.7077325584191,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -621.9970633324442,
+            -1898.2077325584191,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -619.3989871210908,
+            -1899.7077325584191,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -616.8009109097375,
+            -1901.2077325584191,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -614.2028346983841,
+            -1902.7077325584191,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -611.6047584870307,
+            -1904.2077325584191,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -609.0066822756773,
+            -1905.7077325584191,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -606.408606064324,
+            -1907.2077325584191,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -603.8105298529706,
+            -1908.7077325584191,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -601.2124536416172,
+            -1910.2077325584191,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -598.6143774302639,
+            -1911.7077325584191,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -598.6143774302639,
+            -1911.7077325584191,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -597.1143774302639,
+            -1914.3058087697725,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -595.6143774302639,
+            -1916.9038849811259,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -594.1143774302639,
+            -1919.5019611924793,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -592.6143774302639,
+            -1922.1000374038326,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -591.1143774302639,
+            -1924.698113615186,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -572.0,
+            -1940.0,
+            -282.532
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-40-4_1845716951/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-40-4_1845716951/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..aadf0e2ef7adf9618852c2ab981c4e7de16cf947
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-40-4_1845716951/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -958.1913015627964,
+            -2364.1082796889086,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -956.6913015627964,
+            -2361.5102034775555,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -955.1913015627964,
+            -2358.9121272662023,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -953.6913015627964,
+            -2356.314051054849,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -952.1913015627964,
+            -2353.715974843496,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -950.6913015627964,
+            -2351.117898632143,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -949.1913015627964,
+            -2348.5198224207898,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -947.6913015627964,
+            -2345.9217462094366,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -946.1913015627964,
+            -2343.3236699980835,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -944.6913015627964,
+            -2340.7255937867303,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -943.1913015627964,
+            -2338.127517575377,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -941.6913015627964,
+            -2335.529441364024,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -941.6913015627964,
+            -2335.529441364024,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948681
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -941.6913015627964,
+            -2332.529441364024,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -941.6913015627964,
+            -2329.529441364024,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -941.6913015627964,
+            -2326.529441364024,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -941.6913015627964,
+            -2323.529441364024,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -941.6913015627964,
+            -2320.529441364024,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -936.0,
+            -2296.0,
+            -273.841
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-44-48_1925473439/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-44-48_1925473439/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..60157fad3b3c5595edf6c274b32e52aac0de1d52
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-44-48_1925473439/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -902.0489235484092,
+            -1845.2301945893314,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -903.5489235484092,
+            -1842.632118377978,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -905.0489235484092,
+            -1840.0340421666247,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -906.5489235484092,
+            -1837.4359659552713,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -908.0489235484092,
+            -1834.837889743918,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -909.5489235484092,
+            -1832.2398135325645,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -911.0489235484092,
+            -1829.6417373212112,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -912.5489235484092,
+            -1827.0436611098578,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -914.0489235484092,
+            -1824.4455848985044,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -915.5489235484092,
+            -1821.847508687151,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -917.0489235484092,
+            -1819.2494324757977,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -918.5489235484092,
+            -1816.6513562644443,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -920.0489235484092,
+            -1814.053280053091,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -921.5489235484092,
+            -1811.4552038417376,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -923.0489235484092,
+            -1808.8571276303842,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -924.5489235484092,
+            -1806.2590514190308,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -926.0489235484092,
+            -1803.6609752076774,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -927.5489235484092,
+            -1801.062898996324,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -929.0489235484092,
+            -1798.4648227849707,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -930.5489235484092,
+            -1795.8667465736173,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -932.0489235484092,
+            -1793.268670362264,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -933.5489235484092,
+            -1790.6705941509106,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -935.0489235484092,
+            -1788.0725179395572,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -936.5489235484092,
+            -1785.4744417282038,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -948.0,
+            -1768.0,
+            -262.628
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-46-7_978053418/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-46-7_978053418/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1e1b1c0491021cadfb85362faee17f4477486456
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-46-7_978053418/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            808.2203165341671,
+            -1464.011126288579,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            805.6222403228137,
+            -1462.511126288579,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            803.0241641114603,
+            -1461.011126288579,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            800.426087900107,
+            -1459.511126288579,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            797.8280116887536,
+            -1458.011126288579,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            795.2299354774002,
+            -1456.511126288579,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            792.6318592660468,
+            -1455.011126288579,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            790.0337830546935,
+            -1453.511126288579,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            787.4357068433401,
+            -1452.011126288579,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            784.8376306319867,
+            -1450.511126288579,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            782.2395544206333,
+            -1449.011126288579,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            779.64147820928,
+            -1447.511126288579,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            777.0434019979266,
+            -1446.011126288579,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            774.4453257865732,
+            -1444.511126288579,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            774.4453257865732,
+            -1444.511126288579,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            771.4453257865732,
+            -1444.511126288579,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            768.4453257865732,
+            -1444.511126288579,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            765.4453257865732,
+            -1444.511126288579,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            762.4453257865732,
+            -1444.511126288579,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            759.4453257865732,
+            -1444.511126288579,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            756.4453257865732,
+            -1444.511126288579,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            736.0,
+            -1436.0,
+            -282.85
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-50-50_478307629/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-50-50_478307629/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fa87d6feafd18a56f57e2de950b7f8a4c6a7a95c
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-50-50_478307629/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -524.5782977151126,
+            -1899.7413993828386,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -527.1763739264659,
+            -1901.2413993828386,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -529.7744501378193,
+            -1902.7413993828386,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -532.3725263491726,
+            -1904.2413993828386,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -534.970602560526,
+            -1905.7413993828386,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -537.5686787718794,
+            -1907.2413993828386,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -540.1667549832327,
+            -1908.7413993828386,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -542.7648311945861,
+            -1910.2413993828386,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -545.3629074059395,
+            -1911.7413993828386,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -545.3629074059395,
+            -1911.7413993828386,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -546.8629074059395,
+            -1914.339475594192,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -548.3629074059395,
+            -1916.9375518055454,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -549.8629074059395,
+            -1919.5356280168987,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -551.3629074059395,
+            -1922.133704228252,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -552.8629074059395,
+            -1924.7317804396055,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -572.0,
+            -1940.0,
+            -282.532
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-52-46_1292850339/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-52-46_1292850339/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7c562b2d81604836078118142c7f3e7f778c1d3e
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-52-46_1292850339/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1204.160066059771,
+            -2072.0830965543933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1204.160066059771,
+            -2075.0830965543933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1204.160066059771,
+            -2078.0830965543933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1204.160066059771,
+            -2081.0830965543933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1204.160066059771,
+            -2084.0830965543933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1204.160066059771,
+            -2087.0830965543933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1204.160066059771,
+            -2090.0830965543933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1204.160066059771,
+            -2093.0830965543933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1204.160066059771,
+            -2096.0830965543933,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1204.160066059771,
+            -2096.0830965543933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1205.660066059771,
+            -2098.6811727657464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1207.160066059771,
+            -2101.2792489770995,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1208.660066059771,
+            -2103.8773251884527,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1210.160066059771,
+            -2106.475401399806,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1211.660066059771,
+            -2109.073477611159,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1213.160066059771,
+            -2111.671553822512,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1214.660066059771,
+            -2114.2696300338653,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1216.160066059771,
+            -2116.8677062452184,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1217.660066059771,
+            -2119.4657824565716,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1220.0,
+            -2136.0,
+            -282.85
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-55-15_1806119540/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-55-15_1806119540/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..120a3a66a73f28ba97f2820c328befafc5ce3661
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-55-15_1806119540/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -224.93670238915877,
+            -1480.1066761782483,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -222.33862617780545,
+            -1478.6066761782483,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -219.74054996645214,
+            -1477.1066761782483,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -217.14247375509882,
+            -1475.6066761782483,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -214.5443975437455,
+            -1474.1066761782483,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -211.9463213323922,
+            -1472.6066761782483,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -209.34824512103887,
+            -1471.1066761782483,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -209.34824512103887,
+            -1471.1066761782483,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -207.84824512103887,
+            -1468.508599966895,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -206.34824512103887,
+            -1465.9105237555416,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -204.84824512103887,
+            -1463.3124475441882,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -203.34824512103887,
+            -1460.7143713328348,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -201.84824512103887,
+            -1458.1162951214815,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -200.34824512103887,
+            -1455.518218910128,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -198.84824512103887,
+            -1452.9201426987747,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -197.34824512103887,
+            -1450.3220664874214,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -184.0,
+            -1436.0,
+            -279.747
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-6-4_2068224547/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-6-4_2068224547/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ba3ee654c202ca96b729bf75cdfb84548a9b558f
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-6-4_2068224547/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1246.0141526878178,
+            -2058.1702586338115,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1244.5141526878178,
+            -2060.7683348451646,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1243.0141526878178,
+            -2063.366411056518,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1241.5141526878178,
+            -2065.964487267871,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1240.0141526878178,
+            -2068.562563479224,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1238.5141526878178,
+            -2071.1606396905772,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1237.0141526878178,
+            -2073.7587159019304,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1235.5141526878178,
+            -2076.3567921132835,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1234.0141526878178,
+            -2078.9548683246367,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1232.5141526878178,
+            -2081.55294453599,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1231.0141526878178,
+            -2084.151020747343,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1229.5141526878178,
+            -2086.749096958696,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1228.0141526878178,
+            -2089.3471731700492,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1226.5141526878178,
+            -2091.9452493814024,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1225.0141526878178,
+            -2094.5433255927555,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1225.0141526878178,
+            -2094.5433255927555,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948681
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1225.0141526878178,
+            -2097.5433255927555,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1225.0141526878178,
+            -2100.5433255927555,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1225.0141526878178,
+            -2103.5433255927555,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1225.0141526878178,
+            -2106.5433255927555,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1225.0141526878178,
+            -2109.5433255927555,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1225.0141526878178,
+            -2112.5433255927555,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1225.0141526878178,
+            -2115.5433255927555,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1225.0141526878178,
+            -2118.5433255927555,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1225.0141526878178,
+            -2121.5433255927555,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1220.0,
+            -2136.0,
+            -282.85
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-7-25_1175989877/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-7-25_1175989877/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ef84fbc93393e392c04b2950365b3114c950ece9
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-7-25_1175989877/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1109.7386422827124,
+            -2176.0238731235495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1107.140566071359,
+            -2177.5238731235495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1104.5424898600056,
+            -2179.0238731235495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1101.9444136486522,
+            -2180.5238731235495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1099.3463374372989,
+            -2182.0238731235495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1096.7482612259455,
+            -2183.5238731235495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1094.1501850145921,
+            -2185.0238731235495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1091.5521088032388,
+            -2186.5238731235495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1088.9540325918854,
+            -2188.0238731235495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1086.355956380532,
+            -2189.5238731235495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1083.7578801691786,
+            -2191.0238731235495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1081.1598039578253,
+            -2192.5238731235495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1078.561727746472,
+            -2194.0238731235495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1075.9636515351185,
+            -2195.5238731235495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1073.3655753237651,
+            -2197.0238731235495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1070.7674991124118,
+            -2198.5238731235495,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1068.1694229010584,
+            -2200.0238731235495,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1040.0,
+            -2212.0,
+            -236.14
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-0-12_2067247035/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-0-12_2067247035/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8a087c8e1a799c431519fa3285273bb29910d6ce
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-0-12_2067247035/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -338.1580756700061,
+            -2244.432689067501,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -336.6580756700061,
+            -2247.0307652788542,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -335.1580756700061,
+            -2249.6288414902074,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -333.6580756700061,
+            -2252.2269177015605,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -332.1580756700061,
+            -2254.8249939129137,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -330.6580756700061,
+            -2257.423070124267,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -329.1580756700061,
+            -2260.02114633562,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -327.6580756700061,
+            -2262.619222546973,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -326.1580756700061,
+            -2265.2172987583263,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -324.6580756700061,
+            -2267.8153749696794,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -323.1580756700061,
+            -2270.4134511810325,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -321.6580756700061,
+            -2273.0115273923857,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -320.1580756700061,
+            -2275.609603603739,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -296.0,
+            -2316.0,
+            -261.698
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-1-2_1750621862/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-1-2_1750621862/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..87c7c4cf0bd8df5127020bd8b81a94c0b1ddd390
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-1-2_1750621862/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -516.9829384681908,
+            -1850.3964908658327,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -519.5810146795441,
+            -1851.8964908658327,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -522.1790908908974,
+            -1853.3964908658327,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -524.7771671022508,
+            -1854.8964908658327,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -527.3752433136042,
+            -1856.3964908658327,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -529.9733195249576,
+            -1857.8964908658327,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -532.5713957363109,
+            -1859.3964908658327,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -535.1694719476643,
+            -1860.8964908658327,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -537.7675481590177,
+            -1862.3964908658327,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -540.365624370371,
+            -1863.8964908658327,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -542.9637005817244,
+            -1865.3964908658327,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -545.5617767930778,
+            -1866.8964908658327,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -548.1598530044312,
+            -1868.3964908658327,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -550.7579292157845,
+            -1869.8964908658327,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -553.3560054271379,
+            -1871.3964908658327,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -576.0,
+            -1888.0,
+            -276.191
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-15-57_553918865/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-15-57_553918865/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fabbf076e9b2097c279ef4e0d97979f17178edaf
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-15-57_553918865/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -365.57408770355056,
+            -2168.217168818819,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -362.97601149219724,
+            -2166.717168818819,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -360.37793528084393,
+            -2165.217168818819,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -357.7798590694906,
+            -2163.717168818819,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -355.1817828581373,
+            -2162.217168818819,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -352.583706646784,
+            -2160.717168818819,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -349.98563043543066,
+            -2159.217168818819,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -347.38755422407735,
+            -2157.717168818819,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -344.78947801272403,
+            -2156.217168818819,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -342.1914018013707,
+            -2154.717168818819,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -339.5933255900174,
+            -2153.217168818819,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -336.9952493786641,
+            -2151.717168818819,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -334.39717316731077,
+            -2150.217168818819,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -331.79909695595745,
+            -2148.717168818819,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -329.20102074460414,
+            -2147.217168818819,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -326.6029445332508,
+            -2145.717168818819,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -326.6029445332508,
+            -2145.717168818819,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -325.1029445332508,
+            -2143.119092607466,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -323.6029445332508,
+            -2140.521016396113,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -322.1029445332508,
+            -2137.9229401847597,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -320.6029445332508,
+            -2135.3248639734065,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -319.1029445332508,
+            -2132.7267877620534,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -317.6029445332508,
+            -2130.1287115507002,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -316.1029445332508,
+            -2127.530635339347,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -314.6029445332508,
+            -2124.932559127994,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -308.0,
+            -2116.0,
+            -276.593
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-15-6_1184622626/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-15-6_1184622626/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..53382f43ecf70df90b6360d58588581c9811abff
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-15-6_1184622626/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            68.62782381448588,
+            -1594.9661661270422,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            70.12782381448588,
+            -1597.5642423383956,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            71.62782381448588,
+            -1600.162318549749,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            71.62782381448588,
+            -1600.162318549749,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            74.2259000258392,
+            -1601.662318549749,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            76.82397623719251,
+            -1603.162318549749,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            79.42205244854583,
+            -1604.662318549749,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            82.02012865989914,
+            -1606.162318549749,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            84.61820487125246,
+            -1607.662318549749,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            87.21628108260578,
+            -1609.162318549749,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            89.81435729395909,
+            -1610.662318549749,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            92.4124335053124,
+            -1612.162318549749,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            95.01050971666572,
+            -1613.662318549749,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            97.60858592801904,
+            -1615.162318549749,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            100.20666213937236,
+            -1616.662318549749,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            124.0,
+            -1636.0,
+            -258.132
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-16-24_1752143421/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-16-24_1752143421/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ffe1a86f371bda0cf2e3b395dbe11f59c2529d89
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-16-24_1752143421/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            24.609566008575023,
+            -1387.2321607812466,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            26.109566008575023,
+            -1389.8302369926,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            27.609566008575023,
+            -1392.4283132039534,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            29.109566008575023,
+            -1395.0263894153068,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            30.609566008575023,
+            -1397.6244656266601,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            32.10956600857502,
+            -1400.2225418380135,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            33.60956600857502,
+            -1402.8206180493669,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            35.10956600857502,
+            -1405.4186942607203,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            36.60956600857502,
+            -1408.0167704720736,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            38.10956600857502,
+            -1410.614846683427,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            39.60956600857502,
+            -1413.2129228947804,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            41.10956600857502,
+            -1415.8109991061337,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            42.60956600857502,
+            -1418.4090753174871,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            44.10956600857502,
+            -1421.0071515288405,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            44.10956600857502,
+            -1421.0071515288405,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            46.70764221992834,
+            -1422.5071515288405,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            60.0,
+            -1440.0,
+            -258.248
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-2-30_1401422376/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-2-30_1401422376/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..20656d3f868af92b770747b0c3f73a12ba00b767
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-2-30_1401422376/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1330.2988614256137,
+            -2916.245971373129,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1333.2988614256137,
+            -2916.245971373129,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1336.2988614256137,
+            -2916.245971373129,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1339.2988614256137,
+            -2916.245971373129,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1342.2988614256137,
+            -2916.245971373129,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1345.2988614256137,
+            -2916.245971373129,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1348.2988614256137,
+            -2916.245971373129,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1351.2988614256137,
+            -2916.245971373129,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1354.2988614256137,
+            -2916.245971373129,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1357.2988614256137,
+            -2916.245971373129,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1360.2988614256137,
+            -2916.245971373129,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1363.2988614256137,
+            -2916.245971373129,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1366.2988614256137,
+            -2916.245971373129,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1369.2988614256137,
+            -2916.245971373129,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1369.2988614256137,
+            -2916.245971373129,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1371.896937636967,
+            -2914.745971373129,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1374.4950138483205,
+            -2913.245971373129,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1400.0,
+            -2912.0,
+            -272.679
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-24-21_1597272000/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-24-21_1597272000/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6cd3b03e7613c09f57158f91d4318c5fafd8b7ba
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-24-21_1597272000/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1255.25160538507,
+            -2163.356570708922,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1255.25160538507,
+            -2160.356570708922,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1255.25160538507,
+            -2157.356570708922,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1255.25160538507,
+            -2154.356570708922,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1255.25160538507,
+            -2151.356570708922,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1255.25160538507,
+            -2148.356570708922,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1255.25160538507,
+            -2145.356570708922,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1255.25160538507,
+            -2142.356570708922,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1255.25160538507,
+            -2139.356570708922,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1255.25160538507,
+            -2136.356570708922,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1255.25160538507,
+            -2133.356570708922,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1255.25160538507,
+            -2130.356570708922,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1255.25160538507,
+            -2127.356570708922,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1255.25160538507,
+            -2124.356570708922,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1255.25160538507,
+            -2124.356570708922,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1255.25160538507,
+            -2124.356570708922,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1252.6535291737166,
+            -2122.856570708922,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1250.0554529623632,
+            -2121.356570708922,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1247.4573767510099,
+            -2119.856570708922,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1247.4573767510099,
+            -2119.856570708922,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1245.9573767510099,
+            -2117.258494497569,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1244.4573767510099,
+            -2114.6604182862156,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1236.0,
+            -2084.0,
+            -276.191
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-25-49_1530130017/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-25-49_1530130017/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d25da493baecbdf4e66856281ca3b668c4b3654b
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-25-49_1530130017/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1337.354801056773,
+            -2933.5169119819225,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1340.354801056773,
+            -2933.5169119819225,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1343.354801056773,
+            -2933.5169119819225,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1346.354801056773,
+            -2933.5169119819225,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1349.354801056773,
+            -2933.5169119819225,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1352.354801056773,
+            -2933.5169119819225,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1355.354801056773,
+            -2933.5169119819225,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1355.354801056773,
+            -2933.5169119819225,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1357.9528772681265,
+            -2932.0169119819225,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1360.5509534794799,
+            -2930.5169119819225,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1363.1490296908332,
+            -2929.0169119819225,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1365.7471059021866,
+            -2927.5169119819225,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1368.34518211354,
+            -2926.0169119819225,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1370.9432583248933,
+            -2924.5169119819225,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1373.5413345362467,
+            -2923.0169119819225,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1373.5413345362467,
+            -2923.0169119819225,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1375.0413345362467,
+            -2920.4188357705693,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1400.0,
+            -2912.0,
+            -272.679
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-26-20_138172497/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-26-20_138172497/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4c27a8bf8ec093defc20d74695071dcc3f086b74
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-26-20_138172497/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            505.8448027121044,
+            -2167.556693338602,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            503.2467265007511,
+            -2166.056693338602,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            500.6486502893978,
+            -2164.556693338602,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            498.05057407804446,
+            -2163.056693338602,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            495.45249786669115,
+            -2161.556693338602,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            492.85442165533783,
+            -2160.056693338602,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            490.2563454439845,
+            -2158.556693338602,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            487.6582692326312,
+            -2157.056693338602,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            485.0601930212779,
+            -2155.556693338602,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            482.46211680992457,
+            -2154.056693338602,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            479.86404059857125,
+            -2152.556693338602,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            477.26596438721793,
+            -2151.056693338602,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            477.26596438721793,
+            -2151.056693338602,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            475.76596438721793,
+            -2148.458617127249,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            474.26596438721793,
+            -2145.860540915896,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            436.0,
+            -2116.0,
+            -267.209
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-28-33_869921280/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-28-33_869921280/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..74285b2e08ca982aa8017804beea9b5e0224f655
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-28-33_869921280/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1248.4199142479117,
+            -2422.128947491526,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1245.4199142479117,
+            -2422.128947491526,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1242.4199142479117,
+            -2422.128947491526,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1239.4199142479117,
+            -2422.128947491526,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1236.4199142479117,
+            -2422.128947491526,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1236.4199142479117,
+            -2422.128947491526,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1233.8218380365583,
+            -2423.628947491526,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1231.223761825205,
+            -2425.128947491526,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1228.6256856138516,
+            -2426.628947491526,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1226.0276094024982,
+            -2428.128947491526,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1223.4295331911449,
+            -2429.628947491526,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1220.8314569797915,
+            -2431.128947491526,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1218.233380768438,
+            -2432.628947491526,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1215.6353045570847,
+            -2434.128947491526,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1213.0372283457314,
+            -2435.628947491526,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1210.439152134378,
+            -2437.128947491526,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1207.8410759230246,
+            -2438.628947491526,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1207.8410759230246,
+            -2438.628947491526,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1204.8410759230246,
+            -2438.628947491526,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1201.8410759230246,
+            -2438.628947491526,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1188.0,
+            -2444.0,
+            -273.841
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-32-33_1908681983/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-32-33_1908681983/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e96febce11d18713293594328106310f918cacd0
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-32-33_1908681983/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            265.77061431636366,
+            -1371.4428404347748,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            264.27061431636366,
+            -1374.0409166461282,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            262.77061431636366,
+            -1376.6389928574815,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            262.77061431636366,
+            -1376.6389928574815,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            262.77061431636366,
+            -1379.6389928574815,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            262.77061431636366,
+            -1382.6389928574815,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            262.77061431636366,
+            -1385.6389928574815,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            262.77061431636366,
+            -1388.6389928574815,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            262.77061431636366,
+            -1388.6389928574815,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            261.27061431636366,
+            -1391.237069068835,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            259.77061431636366,
+            -1393.8351452801883,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            258.27061431636366,
+            -1396.4332214915416,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            256.77061431636366,
+            -1399.031297702895,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            255.27061431636366,
+            -1401.6293739142484,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            253.77061431636366,
+            -1404.2274501256018,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            252.27061431636366,
+            -1406.8255263369551,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            250.77061431636366,
+            -1409.4236025483085,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            249.27061431636366,
+            -1412.0216787596619,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            247.77061431636366,
+            -1414.6197549710153,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            246.27061431636366,
+            -1417.2178311823686,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1440.0,
+            -225.243
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-32-6_1714710647/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-32-6_1714710647/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0e33c33fd39bfd7a83edc8ea0b4395f0d2b6a431
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-32-6_1714710647/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            983.6313845767959,
+            -2257.099528231207,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            985.1313845767959,
+            -2254.501452019854,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            986.6313845767959,
+            -2251.9033758085006,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            986.6313845767959,
+            -2251.9033758085006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            989.2294607881493,
+            -2250.4033758085006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            991.8275369995026,
+            -2248.9033758085006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            994.425613210856,
+            -2247.4033758085006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            997.0236894222094,
+            -2245.9033758085006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            999.6217656335627,
+            -2244.4033758085006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1002.2198418449161,
+            -2242.9033758085006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1004.8179180562695,
+            -2241.4033758085006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1007.4159942676229,
+            -2239.9033758085006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1010.0140704789762,
+            -2238.4033758085006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1012.6121466903296,
+            -2236.9033758085006,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1012.6121466903296,
+            -2236.9033758085006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1014.1121466903296,
+            -2234.3052995971475,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1015.6121466903296,
+            -2231.7072233857944,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1017.1121466903296,
+            -2229.109147174441,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1040.0,
+            -2212.0,
+            -236.14
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-35-20_914600930/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-35-20_914600930/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b4a99cd802712c0f58ebdb42e784d2a017e39df0
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-35-20_914600930/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            817.6476435926409,
+            -1451.051184284171,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            814.6476435926409,
+            -1451.051184284171,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            811.6476435926409,
+            -1451.051184284171,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            808.6476435926409,
+            -1451.051184284171,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            805.6476435926409,
+            -1451.051184284171,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            802.6476435926409,
+            -1451.051184284171,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            799.6476435926409,
+            -1451.051184284171,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            796.6476435926409,
+            -1451.051184284171,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            793.6476435926409,
+            -1451.051184284171,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            790.6476435926409,
+            -1451.051184284171,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            787.6476435926409,
+            -1451.051184284171,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            784.6476435926409,
+            -1451.051184284171,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            781.6476435926409,
+            -1451.051184284171,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            778.6476435926409,
+            -1451.051184284171,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            775.6476435926409,
+            -1451.051184284171,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            775.6476435926409,
+            -1451.051184284171,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            773.0495673812875,
+            -1449.551184284171,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            770.4514911699341,
+            -1448.051184284171,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            767.8534149585807,
+            -1446.551184284171,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            765.2553387472274,
+            -1445.051184284171,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            762.657262535874,
+            -1443.551184284171,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            760.0591863245206,
+            -1442.051184284171,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            757.4611101131673,
+            -1440.551184284171,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            736.0,
+            -1436.0,
+            -282.85
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-36-14_284327308/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-36-14_284327308/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2c39f30900d2fc3a4e657fdd408b557c0375f579
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-36-14_284327308/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1307.1931668860761,
+            -3026.6090862758692,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1307.1931668860761,
+            -3023.6090862758692,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1307.1931668860761,
+            -3020.6090862758692,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1307.1931668860761,
+            -3017.6090862758692,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1307.1931668860761,
+            -3014.6090862758692,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1307.1931668860761,
+            -3011.6090862758692,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1307.1931668860761,
+            -3008.6090862758692,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1307.1931668860761,
+            -3005.6090862758692,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1307.1931668860761,
+            -3002.6090862758692,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1307.1931668860761,
+            -2999.6090862758692,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1307.1931668860761,
+            -2996.6090862758692,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1307.1931668860761,
+            -2993.6090862758692,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1307.1931668860761,
+            -2990.6090862758692,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1307.1931668860761,
+            -2987.6090862758692,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1307.1931668860761,
+            -2984.6090862758692,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1308.0,
+            -2948.0,
+            -257.331
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-36-34_132629780/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-36-34_132629780/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a72e2202d7c4d8bbac857253a1508bb1bedb1754
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-36-34_132629780/pose.jsonl
@@ -0,0 +1,106 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            280.1015918061147,
+            -1803.7326514749077,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            283.1015918061147,
+            -1803.7326514749077,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            286.1015918061147,
+            -1803.7326514749077,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            286.1015918061147,
+            -1803.7326514749077,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            288.699668017468,
+            -1802.2326514749077,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            291.29774422882133,
+            -1800.7326514749077,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            293.89582044017465,
+            -1799.2326514749077,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            360.0,
+            -1776.0,
+            -267.209
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-36-4_1166437685/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-36-4_1166437685/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..407d93e4598a4c6921db776dfa608d6d67bc7342
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-36-4_1166437685/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            713.5769184795442,
+            -2120.812539078719,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            710.5769184795442,
+            -2120.812539078719,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            707.5769184795442,
+            -2120.812539078719,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            704.5769184795442,
+            -2120.812539078719,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            701.5769184795442,
+            -2120.812539078719,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            698.5769184795442,
+            -2120.812539078719,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            695.5769184795442,
+            -2120.812539078719,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            692.5769184795442,
+            -2120.812539078719,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            689.5769184795442,
+            -2120.812539078719,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            686.5769184795442,
+            -2120.812539078719,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            640.0,
+            -2120.0,
+            -281.704
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-39-36_2042830296/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-39-36_2042830296/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d7101765f5eccd137e5e978ce075f3a52481829b
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-39-36_2042830296/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            539.8077629076818,
+            -2012.5464419382208,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            539.8077629076818,
+            -2009.5464419382208,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            539.8077629076818,
+            -2006.5464419382208,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            539.8077629076818,
+            -2003.5464419382208,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            539.8077629076818,
+            -2000.5464419382208,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            539.8077629076818,
+            -1997.5464419382208,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            539.8077629076818,
+            -1994.5464419382208,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            539.8077629076818,
+            -1991.5464419382208,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            539.8077629076818,
+            -1988.5464419382208,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            539.8077629076818,
+            -1985.5464419382208,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            539.8077629076818,
+            -1982.5464419382208,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            539.8077629076818,
+            -1979.5464419382208,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            539.8077629076818,
+            -1976.5464419382208,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            539.8077629076818,
+            -1973.5464419382208,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            539.8077629076818,
+            -1973.5464419382208,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            538.3077629076818,
+            -1970.9483657268675,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            536.8077629076818,
+            -1968.350289515514,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            535.3077629076818,
+            -1965.7522133041607,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            533.8077629076818,
+            -1963.1541370928073,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            532.3077629076818,
+            -1960.556060881454,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            524.0,
+            -1928.0,
+            -280.21
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-44-17_1680687005/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-44-17_1680687005/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..954db271fc94aab728e02ef6ec2d4747d007146c
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-44-17_1680687005/pose.jsonl
@@ -0,0 +1,93 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            357.910524171503,
+            -1924.0102935607667,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            354.910524171503,
+            -1924.0102935607667,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            351.910524171503,
+            -1924.0102935607667,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            348.910524171503,
+            -1924.0102935607667,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            345.910524171503,
+            -1924.0102935607667,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            342.910524171503,
+            -1924.0102935607667,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            288.0,
+            -1924.0,
+            -268.846
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-44-38_428674782/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-44-38_428674782/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c5764ab0b7d8a2058e89bddd140740cd485654e7
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-44-38_428674782/pose.jsonl
@@ -0,0 +1,54 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            238.43534464848744,
+            -2467.554344171621,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            236.93534464848744,
+            -2470.152420382974,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            235.43534464848744,
+            -2472.750496594327,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            204.0,
+            -2548.0,
+            -283.825
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-8-49_1368062958/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-8-49_1368062958/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fe1ae7d83ddc57aec6ab83df667dc151d92d56b3
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-8-49_1368062958/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -624.4579729036902,
+            -2334.3026367798066,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -621.4579729036902,
+            -2334.3026367798066,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -618.4579729036902,
+            -2334.3026367798066,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -615.4579729036902,
+            -2334.3026367798066,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -612.4579729036902,
+            -2334.3026367798066,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -609.4579729036902,
+            -2334.3026367798066,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -609.4579729036902,
+            -2334.3026367798066,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -609.4579729036902,
+            -2334.3026367798066,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -607.9579729036902,
+            -2331.7045605684534,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -606.4579729036902,
+            -2329.1064843571003,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -604.9579729036902,
+            -2326.508408145747,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -603.4579729036902,
+            -2323.910331934394,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -601.9579729036902,
+            -2321.312255723041,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -600.4579729036902,
+            -2318.7141795116877,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -572.0,
+            -2300.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-8-7_1945891638/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-8-7_1945891638/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..179f9b0b54c8cba0bad3002dccbd7a45ced9fad1
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-8-7_1945891638/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1327.7093249748038,
+            -2163.7249102713713,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1326.2093249748038,
+            -2166.3229864827244,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1324.7093249748038,
+            -2168.9210626940776,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1323.2093249748038,
+            -2171.5191389054307,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1321.7093249748038,
+            -2174.117215116784,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1320.2093249748038,
+            -2176.715291328137,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1318.7093249748038,
+            -2179.31336753949,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1317.2093249748038,
+            -2181.9114437508433,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1315.7093249748038,
+            -2184.5095199621965,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1314.2093249748038,
+            -2187.1075961735496,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1312.7093249748038,
+            -2189.7056723849028,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1311.2093249748038,
+            -2192.303748596256,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1311.2093249748038,
+            -2192.303748596256,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1308.6112487634505,
+            -2193.803748596256,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1306.013172552097,
+            -2195.303748596256,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1303.4150963407437,
+            -2196.803748596256,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1300.8170201293904,
+            -2198.303748596256,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1298.218943918037,
+            -2199.803748596256,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1295.6208677066836,
+            -2201.303748596256,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1293.0227914953302,
+            -2202.803748596256,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1290.4247152839769,
+            -2204.303748596256,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1290.4247152839769,
+            -2204.303748596256,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1288.9247152839769,
+            -2206.901824807609,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1287.4247152839769,
+            -2209.499901018962,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1276.0,
+            -2224.0,
+            -282.55
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}