diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-20-14_1402961682/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-20-14_1402961682/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2b9595b1513181cafd264b4d324609a4f26ec321
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-20-14_1402961682/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            96.58081986501782,
+            86.49025548450354,
+            -2.831874060304833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            99.58081986501782,
+            86.49025548450354,
+            -2.831874060304833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            102.58081986501782,
+            86.49025548450354,
+            -2.831874060304833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            105.58081986501782,
+            86.49025548450354,
+            -2.831874060304833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            108.58081986501782,
+            86.49025548450354,
+            -2.831874060304833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            111.58081986501782,
+            86.49025548450354,
+            -2.831874060304833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            114.58081986501782,
+            86.49025548450354,
+            -2.831874060304833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            117.58081986501782,
+            86.49025548450354,
+            -2.831874060304833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            120.58081986501782,
+            86.49025548450354,
+            -2.831874060304833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            123.58081986501782,
+            86.49025548450354,
+            -2.831874060304833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            126.58081986501782,
+            86.49025548450354,
+            -2.831874060304833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            129.58081986501782,
+            86.49025548450354,
+            -2.831874060304833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            132.58081986501782,
+            86.49025548450354,
+            -2.831874060304833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            135.58081986501782,
+            86.49025548450354,
+            -2.831874060304833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            138.58081986501782,
+            86.49025548450354,
+            -2.831874060304833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            141.58081986501782,
+            86.49025548450354,
+            -2.831874060304833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            144.58081986501782,
+            86.49025548450354,
+            -2.831874060304833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            147.58081986501782,
+            86.49025548450354,
+            -2.831874060304833
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            147.58081986501782,
+            86.49025548450354,
+            -2.831874060304833
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            147.58081986501782,
+            86.49025548450354,
+            -2.831874060304833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            149.08081986501782,
+            83.89217927315022,
+            -2.831874060304833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            150.58081986501782,
+            81.2941030617969,
+            -2.831874060304833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            152.08081986501782,
+            78.69602685044359,
+            -2.831874060304833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            153.58081986501782,
+            76.09795063909027,
+            -2.831874060304833
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            156.30504608154297,
+            75.66667518615724,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-20-41_1900553541/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-20-41_1900553541/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..da6769e1c36cc6a6435eced7573d6e0f9e7808d2
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-20-41_1900553541/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            14.442602879941848,
+            -776.4755312611585,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            12.942602879941848,
+            -773.8774550498051,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            11.442602879941848,
+            -771.2793788384517,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            9.942602879941848,
+            -768.6813026270984,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            8.442602879941848,
+            -766.083226415745,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            6.942602879941849,
+            -763.4851502043916,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            5.44260287994185,
+            -760.8870739930383,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            3.942602879941851,
+            -758.2889977816849,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            2.4426028799418518,
+            -755.6909215703315,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            0.9426028799418524,
+            -753.0928453589781,
+            -1.616753445581038
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            0.9426028799418524,
+            -753.0928453589781,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1.6554733314114636,
+            -751.5928453589781,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -4.253549542764779,
+            -750.0928453589781,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -6.851625754118095,
+            -748.5928453589781,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -9.449701965471412,
+            -747.0928453589781,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -12.047778176824728,
+            -745.5928453589781,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -14.645854388178044,
+            -744.0928453589781,
+            -1.616753445581038
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -14.645854388178044,
+            -744.0928453589781,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -16.145854388178044,
+            -741.4947691476248,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -17.645854388178044,
+            -738.8966929362714,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -19.145854388178044,
+            -736.298616724918,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -20.645854388178044,
+            -733.7005405135646,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -22.145854388178044,
+            -731.1024643022113,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -23.645854388178044,
+            -728.5043880908579,
+            -1.616753445581038
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -25.145854388178044,
+            -725.9063118795045,
+            -1.616753445581038
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -27.698616790771485,
+            -723.4622337341309,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-26-6_2009726312/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-26-6_2009726312/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..89aa1e75c6b4c196aa09fb6b604ab1cd5788e8d5
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-26-6_2009726312/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            38.15660145639803,
+            -520.2400330890599,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            38.15660145639803,
+            -523.2400330890599,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            38.15660145639803,
+            -526.2400330890599,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            38.15660145639803,
+            -529.2400330890599,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            38.15660145639803,
+            -532.2400330890599,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            38.15660145639803,
+            -535.2400330890599,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            38.15660145639803,
+            -538.2400330890599,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            38.15660145639803,
+            -541.2400330890599,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            38.15660145639803,
+            -544.2400330890599,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            38.15660145639803,
+            -547.2400330890599,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            38.15660145639803,
+            -550.2400330890599,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            38.15660145639803,
+            -553.2400330890599,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            38.15660145639803,
+            -556.2400330890599,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            38.15660145639803,
+            -559.2400330890599,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            38.15660145639803,
+            -562.2400330890599,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            38.15660145639803,
+            -565.2400330890599,
+            -3.813122737967155
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            38.15660145639803,
+            -565.2400330890599,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            36.65660145639803,
+            -567.8381093004132,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            35.15660145639803,
+            -570.4361855117666,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            33.65660145639803,
+            -573.0342617231199,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            32.15660145639803,
+            -575.6323379344733,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            30.65660145639803,
+            -578.2304141458267,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            29.15660145639803,
+            -580.82849035718,
+            -3.813122737967155
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            29.15660145639803,
+            -580.82849035718,
+            -3.813122737967155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            29.15660145639803,
+            -583.82849035718,
+            -3.813122737967155
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            29.783947944641117,
+            -587.6620632171631,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-31-10_1505193512/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-31-10_1505193512/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9ba8abd8674e225f139f9027c86c6284e2f8140a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-31-10_1505193512/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            186.0394258315444,
+            -625.7242145564514,
+            -6.220230226782311
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            189.0394258315444,
+            -625.7242145564514,
+            -6.220230226782311
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            192.0394258315444,
+            -625.7242145564514,
+            -6.220230226782311
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            195.0394258315444,
+            -625.7242145564514,
+            -6.220230226782311
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            198.0394258315444,
+            -625.7242145564514,
+            -6.220230226782311
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            201.0394258315444,
+            -625.7242145564514,
+            -6.220230226782311
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            204.0394258315444,
+            -625.7242145564514,
+            -6.220230226782311
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            207.0394258315444,
+            -625.7242145564514,
+            -6.220230226782311
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            210.0394258315444,
+            -625.7242145564514,
+            -6.220230226782311
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            213.0394258315444,
+            -625.7242145564514,
+            -6.220230226782311
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            216.0394258315444,
+            -625.7242145564514,
+            -6.220230226782311
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            219.0394258315444,
+            -625.7242145564514,
+            -6.220230226782311
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            219.0394258315444,
+            -625.7242145564514,
+            -6.220230226782311
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            221.63750204289772,
+            -627.2242145564514,
+            -6.220230226782311
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            224.23557825425104,
+            -628.7242145564514,
+            -6.220230226782311
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            226.83365446560435,
+            -630.2242145564514,
+            -6.220230226782311
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            229.43173067695767,
+            -631.7242145564514,
+            -6.220230226782311
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            232.029806888311,
+            -633.2242145564514,
+            -6.220230226782311
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            234.6278830996643,
+            -634.7242145564514,
+            -6.220230226782311
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            237.59388580322266,
+            -636.861552810669,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-37-43_1983228458/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-37-43_1983228458/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..106281ecf7d1b0b40616c6fd0ad2de0bf52b0400
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-37-43_1983228458/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1474.1888613676522,
+            49.55966819261687,
+            -1.2972561626279902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1472.6888613676522,
+            46.96159198126355,
+            -1.2972561626279902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1471.1888613676522,
+            44.36351576991024,
+            -1.2972561626279902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1469.6888613676522,
+            41.76543955855692,
+            -1.2972561626279902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1468.1888613676522,
+            39.167363347203604,
+            -1.2972561626279902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1466.6888613676522,
+            36.56928713585029,
+            -1.2972561626279902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1465.1888613676522,
+            33.97121092449697,
+            -1.2972561626279902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1463.6888613676522,
+            31.373134713143656,
+            -1.2972561626279902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1462.1888613676522,
+            28.77505850179034,
+            -1.2972561626279902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1460.6888613676522,
+            26.176982290437024,
+            -1.2972561626279902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1459.1888613676522,
+            23.57890607908371,
+            -1.2972561626279902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1457.6888613676522,
+            20.980829867730392,
+            -1.2972561626279902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1456.1888613676522,
+            18.382753656377076,
+            -1.2972561626279902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1454.6888613676522,
+            15.78467744502376,
+            -1.2972561626279902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1453.1888613676522,
+            13.186601233670444,
+            -1.2972561626279902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1451.6888613676522,
+            10.588525022317128,
+            -1.2972561626279902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1450.1888613676522,
+            7.990448810963812,
+            -1.2972561626279902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1448.6888613676522,
+            5.392372599610496,
+            -1.2972561626279902
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1447.1888613676522,
+            2.7942963882571803,
+            -1.2972561626279902
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1448.3586029052735,
+            -0.4004184722900391,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-38-32_1826620483/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-38-32_1826620483/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..46a6a0406c4ee194e2eaae3ce284d08efbbeca48
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-38-32_1826620483/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1318.4985927934026,
+            -114.60781125111257,
+            -3.5026730845209677
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1321.096669004756,
+            -113.10781125111257,
+            -3.5026730845209677
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1323.6947452161094,
+            -111.60781125111257,
+            -3.5026730845209677
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1326.2928214274627,
+            -110.10781125111257,
+            -3.5026730845209677
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1328.8908976388161,
+            -108.60781125111257,
+            -3.5026730845209677
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1331.4889738501695,
+            -107.10781125111257,
+            -3.5026730845209677
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1334.0870500615229,
+            -105.60781125111257,
+            -3.5026730845209677
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1336.6851262728762,
+            -104.10781125111257,
+            -3.5026730845209677
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1339.2832024842296,
+            -102.60781125111257,
+            -3.5026730845209677
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1341.881278695583,
+            -101.10781125111257,
+            -3.5026730845209677
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1344.4793549069364,
+            -99.60781125111257,
+            -3.5026730845209677
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1347.0774311182897,
+            -98.10781125111257,
+            -3.5026730845209677
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1349.675507329643,
+            -96.60781125111257,
+            -3.5026730845209677
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1352.2735835409965,
+            -95.10781125111257,
+            -3.5026730845209677
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1354.8716597523498,
+            -93.60781125111257,
+            -3.5026730845209677
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1357.4697359637032,
+            -92.10781125111257,
+            -3.5026730845209677
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1360.0678121750566,
+            -90.60781125111257,
+            -3.5026730845209677
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1362.66588838641,
+            -89.10781125111257,
+            -3.5026730845209677
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1365.2639645977633,
+            -87.60781125111257,
+            -3.5026730845209677
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1367.8620408091167,
+            -86.10781125111257,
+            -3.5026730845209677
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1370.46011702047,
+            -84.60781125111257,
+            -3.5026730845209677
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1373.0581932318235,
+            -83.10781125111257,
+            -3.5026730845209677
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1381.41708984375,
+            -76.18637247085572,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-39-13_1930772757/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-39-13_1930772757/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f255bcb64e0c3dac5a43cc49e300e2485ff2220b
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-39-13_1930772757/pose.jsonl
@@ -0,0 +1,170 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            844.5480749933271,
+            -31.567866387051794,
+            -3.078422143753442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            841.5480749933271,
+            -31.567866387051794,
+            -3.078422143753442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            838.5480749933271,
+            -31.567866387051794,
+            -3.078422143753442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            835.5480749933271,
+            -31.567866387051794,
+            -3.078422143753442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            832.5480749933271,
+            -31.567866387051794,
+            -3.078422143753442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            829.5480749933271,
+            -31.567866387051794,
+            -3.078422143753442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            826.5480749933271,
+            -31.567866387051794,
+            -3.078422143753442
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            826.5480749933271,
+            -31.567866387051794,
+            -3.078422143753442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            823.9499987819738,
+            -30.067866387051794,
+            -3.078422143753442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            821.3519225706204,
+            -28.567866387051794,
+            -3.078422143753442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            818.7538463592671,
+            -27.067866387051794,
+            -3.078422143753442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            816.1557701479137,
+            -25.567866387051794,
+            -3.078422143753442
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            785.4496536254883,
+            -18.975487995147706,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-49-40_1655035325/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-49-40_1655035325/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a158c4b3201ee100cb8ba7e595a7a8e87c117113
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-49-40_1655035325/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -228.95666093885455,
+            -22.099298379288896,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -230.45666093885455,
+            -19.50122216793558,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -231.95666093885455,
+            -16.903145956582264,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -233.45666093885455,
+            -14.305069745228948,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -234.95666093885455,
+            -11.706993533875632,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -236.45666093885455,
+            -9.108917322522316,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -237.95666093885455,
+            -6.510841111169,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -239.45666093885455,
+            -3.9127648998156843,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -240.95666093885455,
+            -1.3146886884623683,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -242.45666093885455,
+            1.2833875228909477,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -243.95666093885455,
+            3.8814637342442637,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -245.45666093885455,
+            6.47953994559758,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -246.95666093885455,
+            9.077616156950896,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -248.45666093885455,
+            11.675692368304212,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -249.95666093885455,
+            14.273768579657528,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -251.45666093885455,
+            16.871844791010844,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -252.95666093885455,
+            19.46992100236416,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -254.45666093885455,
+            22.067997213717476,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -255.95666093885455,
+            24.666073425070792,
+            -8.02877154026951
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -255.95666093885455,
+            24.666073425070792,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -255.95666093885455,
+            27.666073425070792,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -255.95666093885455,
+            30.666073425070792,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -255.95666093885455,
+            33.66607342507079,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -255.95666093885455,
+            36.66607342507079,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -255.95666093885455,
+            39.66607342507079,
+            -8.02877154026951
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -255.95666093885455,
+            39.66607342507079,
+            -8.02877154026951
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -257.45666093885455,
+            42.26414963642411,
+            -8.02877154026951
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -259.2387418746948,
+            45.236197376251226,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-57-18_1965421244/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-57-18_1965421244/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..514e1b2fa518742ee9e918637acbcb58bde429e0
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-57-18_1965421244/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            422.52987941879667,
+            -299.71532499877486,
+            -3.9235909104529227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            419.93180320744335,
+            -298.21532499877486,
+            -3.9235909104529227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            417.33372699609004,
+            -296.71532499877486,
+            -3.9235909104529227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            414.7356507847367,
+            -295.21532499877486,
+            -3.9235909104529227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            412.1375745733834,
+            -293.71532499877486,
+            -3.9235909104529227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            409.5394983620301,
+            -292.21532499877486,
+            -3.9235909104529227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            406.9414221506768,
+            -290.71532499877486,
+            -3.9235909104529227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            404.34334593932346,
+            -289.21532499877486,
+            -3.9235909104529227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            401.74526972797014,
+            -287.71532499877486,
+            -3.9235909104529227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            399.1471935166168,
+            -286.21532499877486,
+            -3.9235909104529227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            396.5491173052635,
+            -284.71532499877486,
+            -3.9235909104529227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            393.9510410939102,
+            -283.21532499877486,
+            -3.9235909104529227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            391.3529648825569,
+            -281.71532499877486,
+            -3.9235909104529227
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            391.3529648825569,
+            -281.71532499877486,
+            -3.9235909104529227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            388.3529648825569,
+            -281.71532499877486,
+            -3.9235909104529227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            385.3529648825569,
+            -281.71532499877486,
+            -3.9235909104529227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            382.3529648825569,
+            -281.71532499877486,
+            -3.9235909104529227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            379.3529648825569,
+            -281.71532499877486,
+            -3.9235909104529227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            376.3529648825569,
+            -281.71532499877486,
+            -3.9235909104529227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            373.3529648825569,
+            -281.71532499877486,
+            -3.9235909104529227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            370.3529648825569,
+            -281.71532499877486,
+            -3.9235909104529227
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            368.39450302124027,
+            -279.85243492126466,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-8-2_1448703729/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-8-2_1448703729/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2837ba57cecf8b960c3bbc9f8e55fafe2dadd944
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-8-2_1448703729/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -400.2035372687103,
+            -120.60957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -397.2035372687103,
+            -120.60957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -394.2035372687103,
+            -120.60957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -391.2035372687103,
+            -120.60957208937711,
+            -3.894163314005043
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -391.2035372687103,
+            -120.60957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -388.605461057357,
+            -119.10957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -386.0073848460037,
+            -117.60957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -383.40930863465036,
+            -116.10957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -380.81123242329704,
+            -114.60957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -378.2131562119437,
+            -113.10957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -375.6150800005904,
+            -111.60957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -373.0170037892371,
+            -110.10957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -370.4189275778838,
+            -108.60957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -367.82085136653046,
+            -107.10957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -365.22277515517715,
+            -105.60957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -362.62469894382383,
+            -104.10957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -360.0266227324705,
+            -102.60957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -357.4285465211172,
+            -101.10957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -354.8304703097639,
+            -99.60957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -352.23239409841057,
+            -98.10957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -349.63431788705725,
+            -96.60957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -347.03624167570393,
+            -95.10957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -344.4381654643506,
+            -93.60957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -341.8400892529973,
+            -92.10957208937711,
+            -3.894163314005043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -339.242013041644,
+            -90.60957208937711,
+            -3.894163314005043
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -335.7922431945801,
+            -91.63226652145386,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-9-10_677870460/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-9-10_677870460/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..77f8a734614ffd0706b1c828749da43fe350a208
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-9-10_677870460/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            522.5940039300472,
+            -327.4908244013246,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            521.0940039300472,
+            -330.0889006126779,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            519.5940039300472,
+            -332.6869768240312,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            518.0940039300472,
+            -335.2850530353845,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            516.5940039300472,
+            -337.88312924673784,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            515.0940039300472,
+            -340.48120545809115,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            513.5940039300472,
+            -343.07928166944447,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            512.0940039300472,
+            -345.6773578807978,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            510.59400393004717,
+            -348.2754340921511,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            509.09400393004717,
+            -350.8735103035044,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            507.59400393004717,
+            -353.47158651485773,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            506.09400393004717,
+            -356.06966272621105,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            504.59400393004717,
+            -358.66773893756437,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            503.09400393004717,
+            -361.2658151489177,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            501.59400393004717,
+            -363.863891360271,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            500.09400393004717,
+            -366.4619675716243,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            498.59400393004717,
+            -369.06004378297763,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            497.09400393004717,
+            -371.65811999433095,
+            -1.865787672621913
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            497.09400393004717,
+            -371.65811999433095,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            497.09400393004717,
+            -374.65811999433095,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            497.09400393004717,
+            -377.65811999433095,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            497.09400393004717,
+            -380.65811999433095,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            497.09400393004717,
+            -383.65811999433095,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            497.09400393004717,
+            -386.65811999433095,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            497.09400393004717,
+            -389.65811999433095,
+            -1.865787672621913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            497.09400393004717,
+            -392.65811999433095,
+            -1.865787672621913
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            495.27006835937505,
+            -393.85822601318364,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-12-33_952062949/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-12-33_952062949/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6d9249d3bca2bcb63824c2a0e8b0735528bb51c5
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-12-33_952062949/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1255.3955788974868,
+            -161.8561239988856,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1256.8955788974868,
+            -164.45420021023892,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1258.3955788974868,
+            -167.05227642159224,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1259.8955788974868,
+            -169.65035263294556,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1261.3955788974868,
+            -172.24842884429887,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1262.8955788974868,
+            -174.8465050556522,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1264.3955788974868,
+            -177.4445812670055,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1265.8955788974868,
+            -180.04265747835882,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1267.3955788974868,
+            -182.64073368971214,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1268.8955788974868,
+            -185.23880990106545,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1270.3955788974868,
+            -187.83688611241877,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1271.8955788974868,
+            -190.43496232377208,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1273.3955788974868,
+            -193.0330385351254,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1274.8955788974868,
+            -195.63111474647872,
+            -3.830111826476463
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1274.8955788974868,
+            -195.63111474647872,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1274.8955788974868,
+            -198.63111474647872,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1274.8955788974868,
+            -201.63111474647872,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1274.8955788974868,
+            -204.63111474647872,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1274.8955788974868,
+            -207.63111474647872,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1274.8955788974868,
+            -210.63111474647872,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1274.8955788974868,
+            -213.63111474647872,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1274.8955788974868,
+            -216.63111474647872,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1274.8955788974868,
+            -219.63111474647872,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1274.8955788974868,
+            -222.63111474647872,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1274.8955788974868,
+            -225.63111474647872,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1274.8955788974868,
+            -228.63111474647872,
+            -3.830111826476463
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1274.8955788974868,
+            -231.63111474647872,
+            -3.830111826476463
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1273.901252746582,
+            -233.9151123046875,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-15-5_690367770/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-15-5_690367770/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..61d9db9f662e70da826cd2486f7dde8878ffd4de
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-15-5_690367770/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            678.4748725304521,
+            14.635528326427117,
+            -3.555313749327672
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            681.0729487418055,
+            13.135528326427117,
+            -3.555313749327672
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            683.6710249531588,
+            11.635528326427117,
+            -3.555313749327672
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            686.2691011645122,
+            10.135528326427117,
+            -3.555313749327672
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            688.8671773758656,
+            8.635528326427117,
+            -3.555313749327672
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            691.465253587219,
+            7.135528326427117,
+            -3.555313749327672
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            694.0633297985723,
+            5.635528326427117,
+            -3.555313749327672
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            696.6614060099257,
+            4.135528326427117,
+            -3.555313749327672
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            699.2594822212791,
+            2.635528326427117,
+            -3.555313749327672
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            701.8575584326325,
+            1.1355283264271174,
+            -3.555313749327672
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982893
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            704.4556346439858,
+            -0.36447167357288235,
+            -3.555313749327672
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982893
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            707.0537108553392,
+            -1.8644716735728821,
+            -3.555313749327672
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982893
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            709.6517870666926,
+            -3.364471673572882,
+            -3.555313749327672
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982893
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            712.249863278046,
+            -4.864471673572882,
+            -3.555313749327672
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            714.8479394893993,
+            -6.364471673572882,
+            -3.555313749327672
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            717.4460157007527,
+            -7.864471673572882,
+            -3.555313749327672
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            720.0440919121061,
+            -9.364471673572881,
+            -3.555313749327672
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982892
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            722.6421681234594,
+            -10.864471673572881,
+            -3.555313749327672
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            722.6421681234594,
+            -10.864471673572881,
+            -3.555313749327672
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            724.1421681234594,
+            -13.462547884926197,
+            -3.555313749327672
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            725.6421681234594,
+            -16.06062409627951,
+            -3.555313749327672
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            727.4186401367188,
+            -18.7204083442688,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-20-38_410134047/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-20-38_410134047/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3effde026a418de75d88cac61b5af7921500aebe
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-20-38_410134047/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -254.68858300994012,
+            -128.9043710722783,
+            -6.933812368616456
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -252.0905067985868,
+            -130.4043710722783,
+            -6.933812368616456
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -249.49243058723349,
+            -131.9043710722783,
+            -6.933812368616456
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -246.89435437588017,
+            -133.4043710722783,
+            -6.933812368616456
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -244.29627816452685,
+            -134.9043710722783,
+            -6.933812368616456
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -241.69820195317354,
+            -136.4043710722783,
+            -6.933812368616456
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -239.10012574182022,
+            -137.9043710722783,
+            -6.933812368616456
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -236.5020495304669,
+            -139.4043710722783,
+            -6.933812368616456
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -233.9039733191136,
+            -140.9043710722783,
+            -6.933812368616456
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -231.30589710776027,
+            -142.4043710722783,
+            -6.933812368616456
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -228.70782089640696,
+            -143.9043710722783,
+            -6.933812368616456
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -226.10974468505364,
+            -145.4043710722783,
+            -6.933812368616456
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -223.51166847370033,
+            -146.9043710722783,
+            -6.933812368616456
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -220.913592262347,
+            -148.4043710722783,
+            -6.933812368616456
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -218.3155160509937,
+            -149.9043710722783,
+            -6.933812368616456
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -215.71743983964038,
+            -151.4043710722783,
+            -6.933812368616456
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -213.11936362828706,
+            -152.9043710722783,
+            -6.933812368616456
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -210.52128741693375,
+            -154.4043710722783,
+            -6.933812368616456
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -207.92321120558043,
+            -155.9043710722783,
+            -6.933812368616456
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -205.3251349942271,
+            -157.4043710722783,
+            -6.933812368616456
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -203.22534084320068,
+            -159.0278995513916,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-22-17_199411898/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-22-17_199411898/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..adc07295cc68b5ef3178815f359e66c5101c608f
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-22-17_199411898/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1320.6108688879717,
+            128.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1320.6108688879717,
+            131.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1320.6108688879717,
+            134.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1320.6108688879717,
+            137.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1320.6108688879717,
+            140.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1320.6108688879717,
+            143.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1320.6108688879717,
+            146.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1320.6108688879717,
+            149.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1320.6108688879717,
+            152.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1320.6108688879717,
+            155.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1320.6108688879717,
+            158.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1320.6108688879717,
+            161.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1320.6108688879717,
+            164.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1320.6108688879717,
+            167.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1320.6108688879717,
+            170.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1320.6108688879717,
+            173.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1320.6108688879717,
+            176.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1320.6108688879717,
+            179.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1320.6108688879717,
+            182.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1320.6108688879717,
+            185.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1320.6108688879717,
+            188.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1320.6108688879717,
+            191.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1320.6108688879717,
+            194.3715864238071,
+            -8.966595564908424
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1318.4154022216799,
+            197.2680404663086,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-25-33_590335821/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-25-33_590335821/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a078dd926613368cd2cf97a310688dd387d813fa
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-25-33_590335821/pose.jsonl
@@ -0,0 +1,391 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            122.9728205973893,
+            202.44656353881652,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            120.37474438603599,
+            200.94656353881652,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            117.77666817468267,
+            199.44656353881652,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            115.17859196332935,
+            197.94656353881652,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            112.58051575197604,
+            196.44656353881652,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            109.98243954062272,
+            194.94656353881652,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            107.3843633292694,
+            193.44656353881652,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            104.78628711791609,
+            191.94656353881652,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            102.18821090656277,
+            190.44656353881652,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            99.59013469520946,
+            188.94656353881652,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            96.99205848385614,
+            187.44656353881652,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            94.39398227250283,
+            185.94656353881652,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            91.79590606114951,
+            184.44656353881652,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            89.1978298497962,
+            182.94656353881652,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            86.59975363844288,
+            181.44656353881652,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            84.00167742708956,
+            179.94656353881652,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            81.40360121573624,
+            178.44656353881652,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            78.80552500438293,
+            176.94656353881652,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            76.20744879302961,
+            175.44656353881652,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            73.6093725816763,
+            173.94656353881652,
+            -8.609883958223914
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            73.6093725816763,
+            173.94656353881652,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            72.1093725816763,
+            171.3484873274632,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            70.6093725816763,
+            168.7504111161099,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            69.1093725816763,
+            166.15233490475657,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            67.6093725816763,
+            163.55425869340326,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            66.1093725816763,
+            160.95618248204994,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            64.6093725816763,
+            158.35810627069662,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            63.1093725816763,
+            155.7600300593433,
+            -8.609883958223914
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            61.6093725816763,
+            153.16195384799,
+            -8.609883958223914
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            59.49086513519288,
+            153.78228397369386,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-33-22_972058109/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-33-22_972058109/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5d7aa1db7d1dabd970ed2f4d8e31ce20cf01369a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-33-22_972058109/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -111.51820988008579,
+            -464.1732922470609,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -113.01820988008579,
+            -461.57521603570757,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -114.51820988008579,
+            -458.97713982435425,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -116.01820988008579,
+            -456.37906361300094,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -117.51820988008579,
+            -453.7809874016476,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -119.01820988008579,
+            -451.1829111902943,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -120.51820988008579,
+            -448.584834978941,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -122.01820988008579,
+            -445.9867587675877,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -123.51820988008579,
+            -443.38868255623436,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -125.01820988008579,
+            -440.79060634488104,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -126.51820988008579,
+            -438.1925301335277,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -128.01820988008578,
+            -435.5944539221744,
+            -8.999713616524684
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931913
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -128.01820988008578,
+            -435.5944539221744,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948926
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -128.01820988008578,
+            -432.5944539221744,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -128.01820988008578,
+            -429.5944539221744,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -128.01820988008578,
+            -426.5944539221744,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -128.01820988008578,
+            -423.5944539221744,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -128.01820988008578,
+            -420.5944539221744,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -128.01820988008578,
+            -417.5944539221744,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -128.01820988008578,
+            -414.5944539221744,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -128.01820988008578,
+            -411.5944539221744,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -128.01820988008578,
+            -408.5944539221744,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -128.01820988008578,
+            -405.5944539221744,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -128.01820988008578,
+            -402.5944539221744,
+            -8.999713616524684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -128.01820988008578,
+            -399.5944539221744,
+            -8.999713616524684
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -129.16454372406008,
+            -397.39995117187505,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-47-52_1088590930/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-47-52_1088590930/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e3918f6295336a0442c5795d3c10aeb407fe8927
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-47-52_1088590930/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -15.033065988475997,
+            -2.326251006134939,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -13.533065988475997,
+            -4.924327217488255,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -12.033065988475997,
+            -7.522403428841571,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -10.533065988475997,
+            -10.120479640194887,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -9.033065988475997,
+            -12.718555851548203,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -7.533065988475997,
+            -15.316632062901519,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -6.033065988475997,
+            -17.914708274254835,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -4.533065988475997,
+            -20.51278448560815,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -3.0330659884759963,
+            -23.110860696961467,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1.5330659884759958,
+            -25.708936908314783,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -0.0330659884759954,
+            -28.3070131196681,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1.466934011524005,
+            -30.905089331021415,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            2.9669340115240055,
+            -33.50316554237473,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            4.466934011524006,
+            -36.10124175372805,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            5.966934011524007,
+            -38.69931796508136,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965974
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            7.466934011524007,
+            -41.29739417643468,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            8.966934011524007,
+            -43.895470387787995,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            10.466934011524007,
+            -46.49354659914131,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            11.966934011524007,
+            -49.09162281049463,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            13.466934011524007,
+            -51.68969902184794,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            14.966934011524007,
+            -54.28777523320126,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            16.466934011524007,
+            -56.885851444554575,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            17.966934011524007,
+            -59.48392765590789,
+            -1.2077342507050375
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            17.966934011524007,
+            -59.48392765590789,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            17.966934011524007,
+            -62.48392765590789,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            17.966934011524007,
+            -65.48392765590789,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            17.966934011524007,
+            -68.48392765590789,
+            -1.2077342507050375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            17.966934011524007,
+            -71.48392765590789,
+            -1.2077342507050375
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            17.12450046539307,
+            -73.06071357727052,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-50-58_1267889618/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-50-58_1267889618/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0ccb49d573a7a9447e06a82c4a3097b8eb46de5a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-50-58_1267889618/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            89.31930491826752,
+            -17.051903960764133,
+            -1.4450906467634717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            86.7212287069142,
+            -15.551903960764133,
+            -1.4450906467634717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            84.12315249556089,
+            -14.051903960764133,
+            -1.4450906467634717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            81.52507628420757,
+            -12.551903960764133,
+            -1.4450906467634717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            78.92700007285426,
+            -11.051903960764133,
+            -1.4450906467634717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            76.32892386150094,
+            -9.551903960764133,
+            -1.4450906467634717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            73.73084765014762,
+            -8.051903960764133,
+            -1.4450906467634717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            71.13277143879431,
+            -6.5519039607641325,
+            -1.4450906467634717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            68.53469522744099,
+            -5.0519039607641325,
+            -1.4450906467634717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            65.93661901608768,
+            -3.5519039607641325,
+            -1.4450906467634717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            63.33854280473436,
+            -2.0519039607641325,
+            -1.4450906467634717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            60.74046659338104,
+            -0.5519039607641327,
+            -1.4450906467634717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            58.14239038202773,
+            0.948096039235867,
+            -1.4450906467634717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            55.54431417067441,
+            2.4480960392358666,
+            -1.4450906467634717
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            55.54431417067441,
+            2.4480960392358666,
+            -1.4450906467634717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            52.54431417067441,
+            2.448096039235867,
+            -1.4450906467634717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            49.54431417067441,
+            2.4480960392358675,
+            -1.4450906467634717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            46.54431417067441,
+            2.448096039235868,
+            -1.4450906467634717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            43.54431417067441,
+            2.4480960392358684,
+            -1.4450906467634717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            40.54431417067441,
+            2.448096039235869,
+            -1.4450906467634717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            37.54431417067441,
+            2.4480960392358693,
+            -1.4450906467634717
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            34.54431417067441,
+            2.4480960392358697,
+            -1.4450906467634717
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            31.34878616333008,
+            1.572951889038086,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-59-0_1031126087/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-59-0_1031126087/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..996de51072f3b3a1c1e54f4176f21a9c4137aa72
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-59-0_1031126087/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            395.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            392.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            389.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            386.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            383.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            380.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            377.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            374.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            371.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            368.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            365.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            362.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            359.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            356.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            353.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            350.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            347.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            344.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            341.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            338.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            335.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            335.5914437815911,
+            -140.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            332.9933675702378,
+            -139.09531933265112,
+            -0.05723620805114926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            330.3952913588845,
+            -137.59531933265112,
+            -0.05723620805114926
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            320.9684103012085,
+            -137.41820926666261,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-12-36_1688323172/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-12-36_1688323172/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eb9e9f5bd448d8f050041662e51f57adf9d1eb4a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-12-36_1688323172/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -175.40197892966265,
+            -242.59360497832546,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -172.40197892966265,
+            -242.59360497832546,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -169.40197892966265,
+            -242.59360497832546,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -166.40197892966265,
+            -242.59360497832546,
+            -0.5727696777609292
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -166.40197892966265,
+            -242.59360497832546,
+            -0.5727696777609292
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -166.40197892966265,
+            -242.59360497832546,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -164.90197892966265,
+            -245.19168118967877,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -163.40197892966265,
+            -247.7897574010321,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -161.90197892966265,
+            -250.3878336123854,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -160.40197892966265,
+            -252.98590982373872,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -158.90197892966265,
+            -255.58398603509204,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -157.40197892966265,
+            -258.18206224644535,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -155.90197892966265,
+            -260.78013845779867,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -154.40197892966265,
+            -263.378214669152,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -152.90197892966265,
+            -265.9762908805053,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -151.40197892966265,
+            -268.5743670918586,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -149.90197892966265,
+            -271.17244330321194,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -148.40197892966265,
+            -273.77051951456525,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -146.90197892966265,
+            -276.36859572591857,
+            -0.5727696777609292
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -146.90197892966265,
+            -276.36859572591857,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -144.30390271830933,
+            -277.86859572591857,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -141.70582650695602,
+            -279.36859572591857,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -139.1077502956027,
+            -280.86859572591857,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -136.50967408424938,
+            -282.36859572591857,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -133.91159787289607,
+            -283.86859572591857,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -131.31352166154275,
+            -285.36859572591857,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -128.71544545018943,
+            -286.86859572591857,
+            -0.5727696777609292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -126.11736923883612,
+            -288.36859572591857,
+            -0.5727696777609292
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -122.89827556610108,
+            -288.4065223693848,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-18-58_991039875/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-18-58_991039875/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fb50b5b17a070d35e7114f5ff8507f62801e4a58
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-18-58_991039875/pose.jsonl
@@ -0,0 +1,105 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1123.9803783504603,
+            -269.7898829674092,
+            -9.090739545008088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1122.4803783504603,
+            -267.1918067560559,
+            -9.090739545008088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1120.9803783504603,
+            -264.59373054470257,
+            -9.090739545008088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1119.4803783504603,
+            -261.99565433334925,
+            -9.090739545008088
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1119.4803783504603,
+            -261.99565433334925,
+            -9.090739545008088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1116.882302139107,
+            -260.49565433334925,
+            -9.090739545008088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1114.2842259277536,
+            -258.99565433334925,
+            -9.090739545008088
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1078.2823501586915,
+            -224.4462232589722,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-26-35_1872666833/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-26-35_1872666833/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d802e5c12f7b0b76347ae1945167b8ebb6829e0e
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-26-35_1872666833/pose.jsonl
@@ -0,0 +1,53 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            822.553778202557,
+            -353.05729859245304,
+            -5.804091005558135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            822.553778202557,
+            -356.05729859245304,
+            -5.804091005558135
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            822.553778202557,
+            -359.05729859245304,
+            -5.804091005558135
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            833.5786102294923,
+            -416.10598869323735,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-29-32_625040140/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-29-32_625040140/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6ff7f6aa23565b5ebebe1283b0fffa4ac6d09de0
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-29-32_625040140/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -282.7926589771563,
+            -42.184762037267234,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -285.3907351885096,
+            -43.684762037267234,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -287.9888113998629,
+            -45.184762037267234,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -290.58688761121624,
+            -46.684762037267234,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -293.18496382256956,
+            -48.184762037267234,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -295.7830400339229,
+            -49.684762037267234,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -298.3811162452762,
+            -51.184762037267234,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -300.9791924566295,
+            -52.684762037267234,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -303.5772686679828,
+            -54.184762037267234,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -306.17534487933614,
+            -55.684762037267234,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -308.77342109068945,
+            -57.184762037267234,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -311.37149730204277,
+            -58.684762037267234,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -313.9695735133961,
+            -60.184762037267234,
+            -7.21326604667076
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -313.9695735133961,
+            -60.184762037267234,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -315.4695735133961,
+            -62.78283824862055,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -316.9695735133961,
+            -65.38091445997387,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -318.4695735133961,
+            -67.97899067132718,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -319.9695735133961,
+            -70.5770668826805,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -321.4695735133961,
+            -73.17514309403381,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -322.9695735133961,
+            -75.77321930538713,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -324.4695735133961,
+            -78.37129551674045,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -325.9695735133961,
+            -80.96937172809376,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -327.4695735133961,
+            -83.56744793944708,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -328.9695735133961,
+            -86.1655241508004,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -330.4695735133961,
+            -88.76360036215371,
+            -7.21326604667076
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -330.4695735133961,
+            -88.76360036215371,
+            -7.21326604667076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -333.0676497247494,
+            -90.26360036215371,
+            -7.21326604667076
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -335.7922431945801,
+            -91.63226652145386,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-41-46_52775474/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-41-46_52775474/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c679885b21abbbaa4035462868776eba5f8c3ff7
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-41-46_52775474/pose.jsonl
@@ -0,0 +1,92 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            334.17639306402,
+            -95.66751486719679,
+            -9.975624879208766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            331.57831685266666,
+            -94.16751486719679,
+            -9.975624879208766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            328.98024064131334,
+            -92.66751486719679,
+            -9.975624879208766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            326.38216442996,
+            -91.16751486719679,
+            -9.975624879208766
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            326.38216442996,
+            -91.16751486719679,
+            -9.975624879208766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            323.38216442996,
+            -91.16751486719679,
+            -9.975624879208766
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            283.9780300140381,
+            -80.94869422912598,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-44-30_482417719/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-44-30_482417719/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e3cd66d10f03544d4c89c2bc6a1c2831250d1842
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-44-30_482417719/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            49.08748354545014,
+            89.69690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            52.08748354545014,
+            89.69690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            55.08748354545014,
+            89.69690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            58.08748354545014,
+            89.69690880405422,
+            -4.016626564044006
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            58.08748354545014,
+            89.69690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            60.68555975680346,
+            88.19690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            63.28363596815677,
+            86.69690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            65.88171217951009,
+            85.19690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            68.4797883908634,
+            83.69690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            71.07786460221672,
+            82.19690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            73.67594081357004,
+            80.69690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            76.27401702492335,
+            79.19690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            78.87209323627667,
+            77.69690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            81.47016944762998,
+            76.19690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            84.0682456589833,
+            74.69690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            86.66632187033662,
+            73.19690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            89.26439808168993,
+            71.69690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            91.86247429304325,
+            70.19690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            94.46055050439656,
+            68.69690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            97.05862671574988,
+            67.19690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            99.6567029271032,
+            65.69690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            102.25477913845651,
+            64.19690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            104.85285534980983,
+            62.69690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            107.45093156116315,
+            61.19690880405422,
+            -4.016626564044006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            110.04900777251646,
+            59.69690880405422,
+            -4.016626564044006
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            112.24056682586671,
+            60.22414054870606,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-9-17_750167716/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-9-17_750167716/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d9fb7ccf0c7da69157880c974521c1f5cd947ebf
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-9-17_750167716/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -154.63527381568676,
+            -214.83133334569553,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -156.13527381568676,
+            -212.2332571343422,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -157.63527381568676,
+            -209.6351809229889,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -159.13527381568676,
+            -207.03710471163558,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -160.63527381568676,
+            -204.43902850028226,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -162.13527381568676,
+            -201.84095228892895,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -163.63527381568676,
+            -199.24287607757563,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -165.13527381568676,
+            -196.64479986622231,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -166.63527381568676,
+            -194.046723654869,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -168.13527381568676,
+            -191.44864744351568,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -169.63527381568676,
+            -188.85057123216237,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -171.13527381568676,
+            -186.25249502080905,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -172.63527381568676,
+            -183.65441880945573,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -174.13527381568676,
+            -181.05634259810242,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -175.63527381568676,
+            -178.4582663867491,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -177.13527381568676,
+            -175.8601901753958,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -178.63527381568676,
+            -173.26211396404247,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -180.13527381568676,
+            -170.66403775268915,
+            -0.22345411730596076
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -180.13527381568676,
+            -170.66403775268915,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -182.73335002704007,
+            -169.16403775268915,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -185.3314262383934,
+            -167.66403775268915,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -187.9295024497467,
+            -166.16403775268915,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -190.52757866110002,
+            -164.66403775268915,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -193.12565487245334,
+            -163.16403775268915,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -195.72373108380665,
+            -161.66403775268915,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -198.32180729515997,
+            -160.16403775268915,
+            -0.22345411730596076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -200.9198835065133,
+            -158.66403775268915,
+            -0.22345411730596076
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -203.22534084320068,
+            -159.0278995513916,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-9-56_737703662/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-9-56_737703662/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2385f791d09c3e27b882767e83d68296fb1b1863
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-9-56_737703662/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -166.4712486046849,
+            -773.5599337708458,
+            -6.471921694025171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -163.4712486046849,
+            -773.5599337708458,
+            -6.471921694025171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -160.4712486046849,
+            -773.5599337708458,
+            -6.471921694025171
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -160.4712486046849,
+            -773.5599337708458,
+            -6.471921694025171
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -160.4712486046849,
+            -773.5599337708458,
+            -6.471921694025171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -158.9712486046849,
+            -770.9618575594925,
+            -6.471921694025171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -157.4712486046849,
+            -768.3637813481391,
+            -6.471921694025171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -155.9712486046849,
+            -765.7657051367858,
+            -6.471921694025171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -154.4712486046849,
+            -763.1676289254324,
+            -6.471921694025171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -152.9712486046849,
+            -760.569552714079,
+            -6.471921694025171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -151.4712486046849,
+            -757.9714765027256,
+            -6.471921694025171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -149.9712486046849,
+            -755.3734002913723,
+            -6.471921694025171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -148.4712486046849,
+            -752.7753240800189,
+            -6.471921694025171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -146.9712486046849,
+            -750.1772478686655,
+            -6.471921694025171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -145.4712486046849,
+            -747.5791716573121,
+            -6.471921694025171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -143.9712486046849,
+            -744.9810954459588,
+            -6.471921694025171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -142.4712486046849,
+            -742.3830192346054,
+            -6.471921694025171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -140.9712486046849,
+            -739.784943023252,
+            -6.471921694025171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -139.4712486046849,
+            -737.1868668118987,
+            -6.471921694025171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -137.9712486046849,
+            -734.5887906005453,
+            -6.471921694025171
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -137.9712486046849,
+            -734.5887906005453,
+            -6.471921694025171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -135.37317239333157,
+            -733.0887906005453,
+            -6.471921694025171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -132.77509618197826,
+            -731.5887906005453,
+            -6.471921694025171
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -130.4267204284668,
+            -730.7557357788087,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-26-43_1102520059/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-26-43_1102520059/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5f55ffbece318d4d0b873e7c2f7f19ca499d5b78
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-26-43_1102520059/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -52.784125189757845,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -55.784125189757845,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -58.784125189757845,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -61.784125189757845,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -64.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -67.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -70.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -73.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -76.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -79.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -82.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -85.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -88.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -91.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -94.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -97.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -100.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -103.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -106.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -109.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -112.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -115.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -118.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -121.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -124.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -127.78412518975784,
+            -729.4510052052392,
+            -6.990377928016942
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -130.4267204284668,
+            -730.7557357788087,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-33-58_149798315/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-33-58_149798315/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..14eefd29933e59a6e9f8d2ea8985c5ddee630cef
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-33-58_149798315/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            98.37511798894158,
+            -7.210758101090384,
+            -9.057645516294553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            96.87511798894158,
+            -9.8088343124437,
+            -9.057645516294553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            95.37511798894158,
+            -12.406910523797016,
+            -9.057645516294553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            93.87511798894158,
+            -15.004986735150332,
+            -9.057645516294553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            92.37511798894158,
+            -17.60306294650365,
+            -9.057645516294553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            90.87511798894158,
+            -20.201139157856964,
+            -9.057645516294553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            89.37511798894158,
+            -22.79921536921028,
+            -9.057645516294553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            87.87511798894158,
+            -25.397291580563596,
+            -9.057645516294553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            86.37511798894158,
+            -27.995367791916912,
+            -9.057645516294553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            84.87511798894158,
+            -30.59344400327023,
+            -9.057645516294553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            83.37511798894158,
+            -33.191520214623544,
+            -9.057645516294553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            81.87511798894158,
+            -35.78959642597686,
+            -9.057645516294553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            80.37511798894158,
+            -38.387672637330176,
+            -9.057645516294553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            78.87511798894158,
+            -40.98574884868349,
+            -9.057645516294553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            77.37511798894158,
+            -43.58382506003681,
+            -9.057645516294553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            75.87511798894158,
+            -46.181901271390124,
+            -9.057645516294553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            74.37511798894158,
+            -48.77997748274344,
+            -9.057645516294553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            72.87511798894158,
+            -51.37805369409676,
+            -9.057645516294553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            71.37511798894158,
+            -53.97612990545007,
+            -9.057645516294553
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            70.69211120605469,
+            -56.732511901855474,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-42-45_1474612399/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-42-45_1474612399/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..64a543dd8832ac4adfd562e637e3fb694b7600f7
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-42-45_1474612399/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -59.47797609465087,
+            -718.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -62.47797609465087,
+            -718.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -65.47797609465087,
+            -718.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -68.47797609465087,
+            -718.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -71.47797609465087,
+            -718.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -74.47797609465087,
+            -718.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -77.47797609465087,
+            -718.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -80.47797609465087,
+            -718.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -83.47797609465087,
+            -718.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -86.47797609465087,
+            -718.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -89.47797609465087,
+            -718.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -92.47797609465087,
+            -718.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -95.47797609465087,
+            -718.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -98.47797609465087,
+            -718.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -101.47797609465087,
+            -718.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -104.47797609465087,
+            -718.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -107.47797609465087,
+            -718.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -107.47797609465087,
+            -718.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -110.07605230600419,
+            -719.9801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -112.6741285173575,
+            -721.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -115.27220472871082,
+            -722.9801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -117.87028094006413,
+            -724.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -120.46835715141745,
+            -725.9801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -123.06643336277077,
+            -727.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -125.66450957412408,
+            -728.9801991081482,
+            -4.93369987400892
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -128.2625857854774,
+            -730.4801991081482,
+            -4.93369987400892
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -130.4267204284668,
+            -730.7557357788087,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-22-19_707900973/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-22-19_707900973/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b2887191389e5f27b56c906553a35a6231d3db99
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-22-19_707900973/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1453.6221844079312,
+            -125.38642543644458,
+            -5.045415549321375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1453.6221844079312,
+            -128.3864254364446,
+            -5.045415549321375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1453.6221844079312,
+            -131.3864254364446,
+            -5.045415549321375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1453.6221844079312,
+            -134.3864254364446,
+            -5.045415549321375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1453.6221844079312,
+            -137.3864254364446,
+            -5.045415549321375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1453.6221844079312,
+            -140.3864254364446,
+            -5.045415549321375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1453.6221844079312,
+            -143.3864254364446,
+            -5.045415549321375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1453.6221844079312,
+            -146.3864254364446,
+            -5.045415549321375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1453.6221844079312,
+            -149.3864254364446,
+            -5.045415549321375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1453.6221844079312,
+            -152.3864254364446,
+            -5.045415549321375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1453.6221844079312,
+            -155.3864254364446,
+            -5.045415549321375
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1453.6221844079312,
+            -155.3864254364446,
+            -5.045415549321375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1452.1221844079312,
+            -157.9845016477979,
+            -5.045415549321375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1450.6221844079312,
+            -160.58257785915123,
+            -5.045415549321375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1449.1221844079312,
+            -163.18065407050454,
+            -5.045415549321375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1447.6221844079312,
+            -165.77873028185786,
+            -5.045415549321375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1446.1221844079312,
+            -168.37680649321118,
+            -5.045415549321375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1444.6221844079312,
+            -170.9748827045645,
+            -5.045415549321375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1443.1221844079312,
+            -173.5729589159178,
+            -5.045415549321375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1441.6221844079312,
+            -176.17103512727113,
+            -5.045415549321375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1440.1221844079312,
+            -178.76911133862444,
+            -5.045415549321375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1438.6221844079312,
+            -181.36718754997776,
+            -5.045415549321375
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1437.1221844079312,
+            -183.96526376133107,
+            -5.045415549321375
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1437.3104949951173,
+            -187.02000331878662,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-27-20_1953443376/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-27-20_1953443376/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f97675e302d7aa1b91c90b07e58f85c858e90173
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-27-20_1953443376/pose.jsonl
@@ -0,0 +1,157 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            417.22104903477424,
+            -330.2716530513038,
+            -6.819461045265266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            419.81912524612756,
+            -328.7716530513038,
+            -6.819461045265266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            422.41720145748087,
+            -327.2716530513038,
+            -6.819461045265266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            425.0152776688342,
+            -325.7716530513038,
+            -6.819461045265266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            427.6133538801875,
+            -324.2716530513038,
+            -6.819461045265266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            430.2114300915408,
+            -322.7716530513038,
+            -6.819461045265266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            432.80950630289414,
+            -321.2716530513038,
+            -6.819461045265266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            435.40758251424745,
+            -319.7716530513038,
+            -6.819461045265266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            438.00565872560077,
+            -318.2716530513038,
+            -6.819461045265266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            440.6037349369541,
+            -316.7716530513038,
+            -6.819461045265266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            443.2018111483074,
+            -315.2716530513038,
+            -6.819461045265266
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            464.3743118286133,
+            -298.84694976806645,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-27-29_1876855542/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-27-29_1876855542/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4870573463f46eb47398b4a67b3a35ae2a8cf50e
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-27-29_1876855542/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            553.5797335492222,
+            98.43277666491264,
+            -6.192326835223994
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            556.5797335492222,
+            98.43277666491264,
+            -6.192326835223994
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            556.5797335492222,
+            98.43277666491264,
+            -6.192326835223994
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            556.5797335492222,
+            98.43277666491264,
+            -6.192326835223994
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            558.0797335492222,
+            95.83470045355932,
+            -6.192326835223994
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            559.5797335492222,
+            93.236624242206,
+            -6.192326835223994
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            561.0797335492222,
+            90.63854803085269,
+            -6.192326835223994
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            561.0797335492222,
+            90.63854803085269,
+            -6.192326835223994
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            563.6778097605754,
+            89.13854803085269,
+            -6.192326835223994
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            566.2758859719288,
+            87.63854803085269,
+            -6.192326835223994
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            568.8739621832822,
+            86.13854803085269,
+            -6.192326835223994
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            571.4720383946355,
+            84.63854803085269,
+            -6.192326835223994
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            574.0701146059889,
+            83.13854803085269,
+            -6.192326835223994
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            576.6681908173423,
+            81.63854803085269,
+            -6.192326835223994
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            579.2662670286957,
+            80.13854803085269,
+            -6.192326835223994
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            581.864343240049,
+            78.63854803085269,
+            -6.192326835223994
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            584.4624194514024,
+            77.13854803085269,
+            -6.192326835223994
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            587.0604956627558,
+            75.63854803085269,
+            -6.192326835223994
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            589.6585718741092,
+            74.13854803085269,
+            -6.192326835223994
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            589.6585718741092,
+            74.13854803085269,
+            -6.192326835223994
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            591.1585718741092,
+            71.54047181949937,
+            -6.192326835223994
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            592.6585718741092,
+            68.94239560814606,
+            -6.192326835223994
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            594.1585718741092,
+            66.34431939679274,
+            -6.192326835223994
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            595.6585718741092,
+            63.746243185439425,
+            -6.192326835223994
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            597.1585718741092,
+            61.14816697408611,
+            -6.192326835223994
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            598.6585718741092,
+            58.55009076273279,
+            -6.192326835223994
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            611.1197254180909,
+            43.554152965545654,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-30-54_1799878206/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-30-54_1799878206/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a45a2ca1e9a46e0b29fa60ea1ac071cfe5e9f048
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-30-54_1799878206/pose.jsonl
@@ -0,0 +1,92 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1119.9248967170038,
+            -273.921418925419,
+            -6.0884401829170125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1118.4248967170038,
+            -271.3233427140657,
+            -6.0884401829170125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1116.9248967170038,
+            -268.7252665027124,
+            -6.0884401829170125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1115.4248967170038,
+            -266.12719029135906,
+            -6.0884401829170125
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1115.4248967170038,
+            -266.12719029135906,
+            -6.0884401829170125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1112.8268205056504,
+            -264.62719029135906,
+            -6.0884401829170125
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1078.2823501586915,
+            -224.4462232589722,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-31-1_1555319301/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-31-1_1555319301/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9615071d2bd97f8a1fc398305bc9c89658c74123
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-31-1_1555319301/pose.jsonl
@@ -0,0 +1,53 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            843.2366640067705,
+            -231.53279840164168,
+            -0.8206721121157443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            844.7366640067705,
+            -234.130874612995,
+            -0.8206721121157443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            846.2366640067705,
+            -236.72895082434832,
+            -0.8206721121157443
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            871.2010513305664,
+            -278.09218101501466,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-32-44_2001229904/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-32-44_2001229904/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2a99bac0516f17ea1361ed71cd82017f049c63c5
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-32-44_2001229904/pose.jsonl
@@ -0,0 +1,131 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            323.17005858746256,
+            -73.17038931416528,
+            -1.432578786516851
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            326.17005858746256,
+            -73.17038931416528,
+            -1.432578786516851
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            329.17005858746256,
+            -73.17038931416528,
+            -1.432578786516851
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            332.17005858746256,
+            -73.17038931416528,
+            -1.432578786516851
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            335.17005858746256,
+            -73.17038931416528,
+            -1.432578786516851
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            335.17005858746256,
+            -73.17038931416528,
+            -1.432578786516851
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            335.17005858746256,
+            -73.17038931416528,
+            -1.432578786516851
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            336.67005858746256,
+            -75.7684655255186,
+            -1.432578786516851
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            338.17005858746256,
+            -78.36654173687191,
+            -1.432578786516851
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            375.30573921203614,
+            -93.86981248855591,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-55-39_235649157/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-55-39_235649157/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5b0fc4a9f9aed1507a4995d1fa68dff5294acbc1
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-55-39_235649157/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            941.9659913793568,
+            -476.11467115005,
+            -9.476985529001828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            941.9659913793568,
+            -473.11467115005,
+            -9.476985529001828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            941.9659913793568,
+            -470.11467115005,
+            -9.476985529001828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            941.9659913793568,
+            -467.11467115005,
+            -9.476985529001828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            941.9659913793568,
+            -464.11467115005,
+            -9.476985529001828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            941.9659913793568,
+            -461.11467115005,
+            -9.476985529001828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            941.9659913793568,
+            -458.11467115005,
+            -9.476985529001828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            941.9659913793568,
+            -455.11467115005,
+            -9.476985529001828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            941.9659913793568,
+            -452.11467115005,
+            -9.476985529001828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            941.9659913793568,
+            -449.11467115005,
+            -9.476985529001828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            941.9659913793568,
+            -446.11467115005,
+            -9.476985529001828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            941.9659913793568,
+            -443.11467115005,
+            -9.476985529001828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            941.9659913793568,
+            -440.11467115005,
+            -9.476985529001828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            941.9659913793568,
+            -437.11467115005,
+            -9.476985529001828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            941.9659913793568,
+            -434.11467115005,
+            -9.476985529001828
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            941.9659913793568,
+            -434.11467115005,
+            -9.476985529001828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            940.4659913793568,
+            -431.5165949386967,
+            -9.476985529001828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            938.9659913793568,
+            -428.9185187273434,
+            -9.476985529001828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            937.4659913793568,
+            -426.32044251599007,
+            -9.476985529001828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            935.9659913793568,
+            -423.72236630463675,
+            -9.476985529001828
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            935.9659913793568,
+            -423.72236630463675,
+            -9.476985529001828
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            933.3679151680035,
+            -422.22236630463675,
+            -9.476985529001828
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            927.2414848327637,
+            -404.25602226257325,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-58-5_332266748/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-58-5_332266748/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..79c3bc1b283565387b6246780931d2bccbb1050a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-58-5_332266748/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -268.23939001492596,
+            -188.02815421936216,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -265.23939001492596,
+            -188.02815421936216,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -262.23939001492596,
+            -188.02815421936216,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -259.23939001492596,
+            -188.02815421936216,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -256.23939001492596,
+            -188.02815421936216,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -253.23939001492596,
+            -188.02815421936216,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -250.23939001492596,
+            -188.02815421936216,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -247.23939001492596,
+            -188.02815421936216,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -244.23939001492596,
+            -188.02815421936216,
+            -2.2054299261236254
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -244.23939001492596,
+            -188.02815421936216,
+            -2.2054299261236254
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -244.23939001492596,
+            -188.02815421936216,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -242.73939001492596,
+            -185.43007800800885,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -241.23939001492596,
+            -182.83200179665553,
+            -2.2054299261236254
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -241.23939001492596,
+            -182.83200179665553,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -238.64131380357264,
+            -181.33200179665553,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -236.04323759221933,
+            -179.83200179665553,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -233.445161380866,
+            -178.33200179665553,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -230.8470851695127,
+            -176.83200179665553,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -228.24900895815938,
+            -175.33200179665553,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -225.65093274680606,
+            -173.83200179665553,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -223.05285653545275,
+            -172.33200179665553,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -220.45478032409943,
+            -170.83200179665553,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -217.85670411274612,
+            -169.33200179665553,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -215.2586279013928,
+            -167.83200179665553,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -212.66055169003948,
+            -166.33200179665553,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -210.06247547868617,
+            -164.83200179665553,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -207.46439926733285,
+            -163.33200179665553,
+            -2.2054299261236254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -204.86632305597954,
+            -161.83200179665553,
+            -2.2054299261236254
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -203.22534084320068,
+            -159.0278995513916,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-0-13_1186090428/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-0-13_1186090428/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7e08411c78fdabc2f479154a2eab010979d1bfa3
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-0-13_1186090428/pose.jsonl
@@ -0,0 +1,235 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            940.8606623720586,
+            -305.15522134238677,
+            -7.831229514179515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            942.3606623720586,
+            -302.55714513103345,
+            -7.831229514179515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            943.8606623720586,
+            -299.95906891968013,
+            -7.831229514179515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            945.3606623720586,
+            -297.3609927083268,
+            -7.831229514179515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            946.8606623720586,
+            -294.7629164969735,
+            -7.831229514179515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            948.3606623720586,
+            -292.1648402856202,
+            -7.831229514179515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            949.8606623720586,
+            -289.56676407426687,
+            -7.831229514179515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            951.3606623720586,
+            -286.96868786291355,
+            -7.831229514179515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            952.8606623720586,
+            -284.37061165156024,
+            -7.831229514179515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            954.3606623720586,
+            -281.7725354402069,
+            -7.831229514179515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            955.8606623720586,
+            -279.1744592288536,
+            -7.831229514179515
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            955.8606623720586,
+            -279.1744592288536,
+            -7.831229514179515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            958.458738583412,
+            -277.6744592288536,
+            -7.831229514179515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            961.0568147947654,
+            -276.1744592288536,
+            -7.831229514179515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            963.6548910061188,
+            -274.6744592288536,
+            -7.831229514179515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            966.2529672174721,
+            -273.1744592288536,
+            -7.831229514179515
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            968.8510434288255,
+            -271.6744592288536,
+            -7.831229514179515
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            984.0259399414064,
+            -252.70955543518068,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-18-52_1106059479/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-18-52_1106059479/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0e437384ba7dd5fd3e639ff397c7093ee332c581
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-18-52_1106059479/pose.jsonl
@@ -0,0 +1,222 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            962.3562810288126,
+            -474.8507985263759,
+            -2.168223975498913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            960.8562810288126,
+            -472.2527223150226,
+            -2.168223975498913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            959.3562810288126,
+            -469.6546461036693,
+            -2.168223975498913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            957.8562810288126,
+            -467.05656989231596,
+            -2.168223975498913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            956.3562810288126,
+            -464.45849368096265,
+            -2.168223975498913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            954.8562810288126,
+            -461.86041746960933,
+            -2.168223975498913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            953.3562810288126,
+            -459.262341258256,
+            -2.168223975498913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            951.8562810288126,
+            -456.6642650469027,
+            -2.168223975498913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            950.3562810288126,
+            -454.0661888355494,
+            -2.168223975498913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            948.8562810288126,
+            -451.46811262419607,
+            -2.168223975498913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            947.3562810288126,
+            -448.87003641284275,
+            -2.168223975498913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            945.8562810288126,
+            -446.27196020148943,
+            -2.168223975498913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            944.3562810288126,
+            -443.6738839901361,
+            -2.168223975498913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            942.8562810288126,
+            -441.0758077787828,
+            -2.168223975498913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            941.3562810288126,
+            -438.4777315674295,
+            -2.168223975498913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            939.8562810288126,
+            -435.87965535607617,
+            -2.168223975498913
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            927.2414848327637,
+            -404.25602226257325,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-19-3_241909610/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-19-3_241909610/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cff35cd4ecade0281f6cfd69f49f5954aa456dc2
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-19-3_241909610/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            380.71848943774563,
+            -546.4812581413223,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            383.71848943774563,
+            -546.4812581413223,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            386.71848943774563,
+            -546.4812581413223,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            389.71848943774563,
+            -546.4812581413223,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            392.71848943774563,
+            -546.4812581413223,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            395.71848943774563,
+            -546.4812581413223,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            398.71848943774563,
+            -546.4812581413223,
+            -3.833477460819859
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            398.71848943774563,
+            -546.4812581413223,
+            -3.833477460819859
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            398.71848943774563,
+            -546.4812581413223,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            400.21848943774563,
+            -549.0793343526757,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            401.71848943774563,
+            -551.6774105640291,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            403.21848943774563,
+            -554.2754867753824,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            404.71848943774563,
+            -556.8735629867358,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            406.21848943774563,
+            -559.4716391980892,
+            -3.833477460819859
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            406.21848943774563,
+            -559.4716391980892,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            408.81656564909895,
+            -560.9716391980892,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            411.41464186045226,
+            -562.4716391980892,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            414.0127180718056,
+            -563.9716391980892,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            416.6107942831589,
+            -565.4716391980892,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            419.2088704945122,
+            -566.9716391980892,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            421.8069467058655,
+            -568.4716391980892,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            424.40502291721884,
+            -569.9716391980892,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            427.00309912857216,
+            -571.4716391980892,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            429.6011753399255,
+            -572.9716391980892,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            432.1992515512788,
+            -574.4716391980892,
+            -3.833477460819859
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            434.7973277626321,
+            -575.9716391980892,
+            -3.833477460819859
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            437.9839408874512,
+            -578.2894577026368,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-21-23_873524566/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-21-23_873524566/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5dc15e30f161a30785aa9292445728250c3f8c87
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-21-23_873524566/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -38.74163231791512,
+            -680.8106761972484,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -38.74163231791512,
+            -677.8106761972484,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -38.74163231791512,
+            -674.8106761972484,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -38.74163231791512,
+            -671.8106761972484,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -38.74163231791512,
+            -668.8106761972484,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -38.74163231791512,
+            -665.8106761972484,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -38.74163231791512,
+            -662.8106761972484,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -38.74163231791512,
+            -659.8106761972484,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -38.74163231791512,
+            -656.8106761972484,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -38.74163231791512,
+            -653.8106761972484,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -38.74163231791512,
+            -650.8106761972484,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -38.74163231791512,
+            -647.8106761972484,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -38.74163231791512,
+            -644.8106761972484,
+            -9.912508133146176
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -38.74163231791512,
+            -644.8106761972484,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -40.24163231791512,
+            -642.2125999858952,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -41.74163231791512,
+            -639.6145237745418,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -43.24163231791512,
+            -637.0164475631884,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -44.74163231791512,
+            -634.418371351835,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -46.24163231791512,
+            -631.8202951404817,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -47.74163231791512,
+            -629.2222189291283,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -49.24163231791512,
+            -626.6241427177749,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -50.74163231791512,
+            -624.0260665064216,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -52.24163231791512,
+            -621.4279902950682,
+            -9.912508133146176
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -52.24163231791512,
+            -621.4279902950682,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -52.24163231791512,
+            -618.4279902950682,
+            -9.912508133146176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -52.24163231791512,
+            -615.4279902950682,
+            -9.912508133146176
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -52.7497802734375,
+            -613.6590488433839,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-26-5_1930772757/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-26-5_1930772757/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..29380c565e15edac2b6911ec5a1009f350a968b5
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-26-5_1930772757/pose.jsonl
@@ -0,0 +1,222 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1386.328558411915,
+            -124.54782110069755,
+            -6.337810734642856
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1388.9266346232685,
+            -123.04782110069755,
+            -6.337810734642856
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1391.5247108346218,
+            -121.54782110069755,
+            -6.337810734642856
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1394.1227870459752,
+            -120.04782110069755,
+            -6.337810734642856
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1396.7208632573286,
+            -118.54782110069755,
+            -6.337810734642856
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1399.318939468682,
+            -117.04782110069755,
+            -6.337810734642856
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1401.9170156800353,
+            -115.54782110069755,
+            -6.337810734642856
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1404.5150918913887,
+            -114.04782110069755,
+            -6.337810734642856
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1404.5150918913887,
+            -114.04782110069755,
+            -6.337810734642856
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1406.0150918913887,
+            -111.44974488934423,
+            -6.337810734642856
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1407.5150918913887,
+            -108.85166867799092,
+            -6.337810734642856
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1409.0150918913887,
+            -106.2535924666376,
+            -6.337810734642856
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1410.5150918913887,
+            -103.65551625528428,
+            -6.337810734642856
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1412.0150918913887,
+            -101.05744004393097,
+            -6.337810734642856
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1413.5150918913887,
+            -98.45936383257765,
+            -6.337810734642856
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1415.0150918913887,
+            -95.86128762122433,
+            -6.337810734642856
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1428.624742126465,
+            -85.18475704193116,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-30-52_1026413173/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-30-52_1026413173/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..36e129766e920b0046e4a66282122989dc9f4700
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-30-52_1026413173/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -116.80975875408917,
+            -473.54357462389873,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -116.80975875408917,
+            -470.54357462389873,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -116.80975875408917,
+            -467.54357462389873,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -116.80975875408917,
+            -464.54357462389873,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -116.80975875408917,
+            -461.54357462389873,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -116.80975875408917,
+            -458.54357462389873,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -116.80975875408917,
+            -455.54357462389873,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -116.80975875408917,
+            -452.54357462389873,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -116.80975875408917,
+            -449.54357462389873,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -116.80975875408917,
+            -446.54357462389873,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -116.80975875408917,
+            -443.54357462389873,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -116.80975875408917,
+            -440.54357462389873,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -116.80975875408917,
+            -437.54357462389873,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -116.80975875408917,
+            -434.54357462389873,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -116.80975875408917,
+            -431.54357462389873,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -116.80975875408917,
+            -428.54357462389873,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -116.80975875408917,
+            -425.54357462389873,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -116.80975875408917,
+            -422.54357462389873,
+            -4.190346095965403
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -116.80975875408917,
+            -422.54357462389873,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -118.30975875408917,
+            -419.9454984125454,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -119.80975875408917,
+            -417.3474222011921,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -121.30975875408917,
+            -414.7493459898388,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -122.80975875408917,
+            -412.15126977848547,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -124.30975875408917,
+            -409.55319356713215,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -125.80975875408917,
+            -406.95511735577884,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -127.30975875408917,
+            -404.3570411444255,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -128.80975875408916,
+            -401.7589649330722,
+            -4.190346095965403
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931913
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -130.30975875408916,
+            -399.1608887217189,
+            -4.190346095965403
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931913
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -129.16454372406008,
+            -397.39995117187505,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-4-11_70636429/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-4-11_70636429/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b1cf9913798a4d4022075e99d30193109b2cd0b
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-4-11_70636429/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            371.13957314417416,
+            -615.6175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            373.7376493555275,
+            -614.1175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            376.3357255668808,
+            -612.6175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            378.9338017782341,
+            -611.1175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            381.53187798958743,
+            -609.6175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            384.12995420094074,
+            -608.1175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            386.72803041229406,
+            -606.6175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            389.3261066236474,
+            -605.1175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            391.9241828350007,
+            -603.6175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            394.522259046354,
+            -602.1175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            397.1203352577073,
+            -600.6175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            399.71841146906064,
+            -599.1175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            402.31648768041396,
+            -597.6175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            404.9145638917673,
+            -596.1175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            407.5126401031206,
+            -594.6175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            410.1107163144739,
+            -593.1175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            412.7087925258272,
+            -591.6175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            415.30686873718054,
+            -590.1175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            417.90494494853385,
+            -588.6175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            420.50302115988717,
+            -587.1175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            423.1010973712405,
+            -585.6175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            425.6991735825938,
+            -584.1175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            428.2972497939471,
+            -582.6175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            430.89532600530043,
+            -581.1175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            433.49340221665375,
+            -579.6175797998137,
+            -3.116276058703007
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            436.09147842800706,
+            -578.1175797998137,
+            -3.116276058703007
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            437.9839408874512,
+            -578.2894577026368,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-49-6_1909850543/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-49-6_1909850543/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f913dce2743ccdc08ff68d04254ab669b523f6e0
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-49-6_1909850543/pose.jsonl
@@ -0,0 +1,235 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            668.3328174626563,
+            24.468682293104834,
+            -5.779873598963633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            665.7347412513029,
+            25.968682293104834,
+            -5.779873598963633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            663.1366650399495,
+            27.468682293104834,
+            -5.779873598963633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            660.5385888285962,
+            28.968682293104834,
+            -5.779873598963633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            657.9405126172428,
+            30.468682293104834,
+            -5.779873598963633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            655.3424364058894,
+            31.968682293104834,
+            -5.779873598963633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            652.7443601945361,
+            33.468682293104834,
+            -5.779873598963633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            650.1462839831827,
+            34.968682293104834,
+            -5.779873598963633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            647.5482077718293,
+            36.468682293104834,
+            -5.779873598963633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            644.9501315604759,
+            37.968682293104834,
+            -5.779873598963633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            642.3520553491226,
+            39.468682293104834,
+            -5.779873598963633
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            642.3520553491226,
+            39.468682293104834,
+            -5.779873598963633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            639.3520553491226,
+            39.468682293104834,
+            -5.779873598963633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            636.3520553491226,
+            39.468682293104834,
+            -5.779873598963633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            633.3520553491226,
+            39.468682293104834,
+            -5.779873598963633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            630.3520553491226,
+            39.468682293104834,
+            -5.779873598963633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            627.3520553491226,
+            39.468682293104834,
+            -5.779873598963633
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            611.1197254180909,
+            43.554152965545654,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-50-12_1725138377/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-50-12_1725138377/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b040ec4956068f3d4dcfeccf47cc6ce0d9425c42
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-50-12_1725138377/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            551.35572534387,
+            -343.41590142923474,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            548.7576491325167,
+            -344.91590142923474,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            546.1595729211633,
+            -346.41590142923474,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            543.56149670981,
+            -347.91590142923474,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            540.9634204984566,
+            -349.41590142923474,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            538.3653442871032,
+            -350.91590142923474,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            535.7672680757498,
+            -352.41590142923474,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            533.1691918643965,
+            -353.91590142923474,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            530.5711156530431,
+            -355.41590142923474,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            527.9730394416897,
+            -356.91590142923474,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            525.3749632303363,
+            -358.41590142923474,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            522.776887018983,
+            -359.91590142923474,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            520.1788108076296,
+            -361.41590142923474,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            517.5807345962762,
+            -362.91590142923474,
+            -9.513730588183611
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            517.5807345962762,
+            -362.91590142923474,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            516.0807345962762,
+            -365.51397764058805,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            514.5807345962762,
+            -368.11205385194137,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            513.0807345962762,
+            -370.7101300632947,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            511.5807345962762,
+            -373.308206274648,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            510.0807345962762,
+            -375.9062824860013,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            508.5807345962762,
+            -378.50435869735463,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            507.0807345962762,
+            -381.10243490870795,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            505.5807345962762,
+            -383.70051112006126,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            504.0807345962762,
+            -386.2985873314146,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            502.5807345962762,
+            -388.8966635427679,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            501.0807345962762,
+            -391.4947397541212,
+            -9.513730588183611
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            501.0807345962762,
+            -391.4947397541212,
+            -9.513730588183611
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            498.4826583849229,
+            -392.9947397541212,
+            -9.513730588183611
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            495.27006835937505,
+            -393.85822601318364,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-57-4_483689685/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-57-4_483689685/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cd0a88b490b22d5d9c45da319a07547e6fb5ebac
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-57-4_483689685/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            334.42552218531154,
+            -480.52334110010827,
+            -9.489811253699166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            331.8274459739582,
+            -482.02334110010827,
+            -9.489811253699166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            329.2293697626049,
+            -483.52334110010827,
+            -9.489811253699166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            326.6312935512516,
+            -485.02334110010827,
+            -9.489811253699166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            324.0332173398983,
+            -486.52334110010827,
+            -9.489811253699166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            321.43514112854496,
+            -488.02334110010827,
+            -9.489811253699166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            318.83706491719164,
+            -489.52334110010827,
+            -9.489811253699166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            316.2389887058383,
+            -491.02334110010827,
+            -9.489811253699166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            313.640912494485,
+            -492.52334110010827,
+            -9.489811253699166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            311.0428362831317,
+            -494.02334110010827,
+            -9.489811253699166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            308.4447600717784,
+            -495.52334110010827,
+            -9.489811253699166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            305.84668386042506,
+            -497.02334110010827,
+            -9.489811253699166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            303.24860764907174,
+            -498.52334110010827,
+            -9.489811253699166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            300.6505314377184,
+            -500.02334110010827,
+            -9.489811253699166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            298.0524552263651,
+            -501.52334110010827,
+            -9.489811253699166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            295.4543790150118,
+            -503.02334110010827,
+            -9.489811253699166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            292.8563028036585,
+            -504.52334110010827,
+            -9.489811253699166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            290.25822659230516,
+            -506.02334110010827,
+            -9.489811253699166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            287.66015038095185,
+            -507.52334110010827,
+            -9.489811253699166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            285.06207416959853,
+            -509.02334110010827,
+            -9.489811253699166
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            283.3368732452393,
+            -507.865353012085,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-12-48_590335821/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-12-48_590335821/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8c48e9628717a84aa246dddf2cde3e5590a2c2f4
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-12-48_590335821/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -72.13201350729955,
+            -427.65987125369617,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -70.63201350729955,
+            -425.06179504234285,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -69.13201350729955,
+            -422.46371883098954,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -67.63201350729955,
+            -419.8656426196362,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -66.13201350729955,
+            -417.2675664082829,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -64.63201350729955,
+            -414.6694901969296,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -63.13201350729955,
+            -412.07141398557627,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -61.63201350729955,
+            -409.47333777422295,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -60.13201350729955,
+            -406.87526156286964,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -58.63201350729955,
+            -404.2771853515163,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -57.13201350729955,
+            -401.679109140163,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -55.63201350729955,
+            -399.0810329288097,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -54.13201350729955,
+            -396.4829567174564,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -52.63201350729955,
+            -393.88488050610306,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -51.13201350729955,
+            -391.28680429474974,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -49.63201350729955,
+            -388.6887280833964,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -48.13201350729955,
+            -386.0906518720431,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -46.63201350729955,
+            -383.4925756606898,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -45.13201350729955,
+            -380.8944994493365,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -43.63201350729955,
+            -378.29642323798316,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -42.13201350729955,
+            -375.69834702662985,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -40.63201350729955,
+            -373.10027081527653,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -39.13201350729955,
+            -370.5021946039232,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -37.63201350729955,
+            -367.9041183925699,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -36.13201350729955,
+            -365.3060421812166,
+            -1.1573427035420032
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -36.13201350729955,
+            -365.3060421812166,
+            -1.1573427035420032
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -36.13201350729955,
+            -365.3060421812166,
+            -1.1573427035420032
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -37.63201350729955,
+            -362.70796596986327,
+            -1.1573427035420032
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -37.04707775115967,
+            -360.1783214569092,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-20-17_343945053/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-20-17_343945053/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3f3bc1b781b9ec4a9e98e39bbc61da8c15379d86
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-20-17_343945053/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            178.00926479525276,
+            224.30133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            181.00926479525276,
+            224.30133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            184.00926479525276,
+            224.30133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            187.00926479525276,
+            224.30133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            190.00926479525276,
+            224.30133203112817,
+            -1.1818111819058092
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            190.00926479525276,
+            224.30133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            192.60734100660608,
+            222.80133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            195.2054172179594,
+            221.30133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            197.8034934293127,
+            219.80133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            200.40156964066603,
+            218.30133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            202.99964585201934,
+            216.80133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            205.59772206337266,
+            215.30133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            208.19579827472597,
+            213.80133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            210.7938744860793,
+            212.30133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            213.3919506974326,
+            210.80133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            215.99002690878592,
+            209.30133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            218.58810312013924,
+            207.80133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            221.18617933149255,
+            206.30133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            223.78425554284587,
+            204.80133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            226.38233175419919,
+            203.30133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            228.9804079655525,
+            201.80133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            231.57848417690582,
+            200.30133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            234.17656038825913,
+            198.80133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            236.77463659961245,
+            197.30133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            239.37271281096577,
+            195.80133203112817,
+            -1.1818111819058092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            241.97078902231908,
+            194.30133203112817,
+            -1.1818111819058092
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            243.237640953064,
+            194.2933292388916,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-27-33_831768825/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-27-33_831768825/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..37dfc8c2e763faa575d90ac04bcf27356604ac0f
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-27-33_831768825/pose.jsonl
@@ -0,0 +1,222 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            552.7389205647047,
+            30.691922497592927,
+            -2.157227606885775
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            555.7389205647047,
+            30.691922497592927,
+            -2.157227606885775
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            558.7389205647047,
+            30.691922497592927,
+            -2.157227606885775
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            561.7389205647047,
+            30.691922497592927,
+            -2.157227606885775
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            564.7389205647047,
+            30.691922497592927,
+            -2.157227606885775
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            567.7389205647047,
+            30.691922497592927,
+            -2.157227606885775
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            570.7389205647047,
+            30.691922497592927,
+            -2.157227606885775
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            573.7389205647047,
+            30.691922497592927,
+            -2.157227606885775
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            576.7389205647047,
+            30.691922497592927,
+            -2.157227606885775
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            579.7389205647047,
+            30.691922497592927,
+            -2.157227606885775
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            582.7389205647047,
+            30.691922497592927,
+            -2.157227606885775
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            582.7389205647047,
+            30.691922497592927,
+            -2.157227606885775
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            582.7389205647047,
+            30.691922497592927,
+            -2.157227606885775
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            584.2389205647047,
+            33.28999870894624,
+            -2.157227606885775
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            585.7389205647047,
+            35.88807492029956,
+            -2.157227606885775
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            587.2389205647047,
+            38.486151131652875,
+            -2.157227606885775
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            611.1197254180909,
+            43.554152965545654,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-39-35_384370888/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-39-35_384370888/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..70b6969847273ee245ce05d928f9b251401ec6ad
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-39-35_384370888/pose.jsonl
@@ -0,0 +1,248 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            524.9057198820017,
+            -172.5994220978396,
+            -5.54778107407739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            523.4057198820017,
+            -175.19749830919292,
+            -5.54778107407739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            521.9057198820017,
+            -177.79557452054624,
+            -5.54778107407739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            520.4057198820017,
+            -180.39365073189956,
+            -5.54778107407739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            518.9057198820017,
+            -182.99172694325287,
+            -5.54778107407739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            517.4057198820017,
+            -185.5898031546062,
+            -5.54778107407739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            515.9057198820017,
+            -188.1878793659595,
+            -5.54778107407739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            514.4057198820017,
+            -190.78595557731282,
+            -5.54778107407739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            512.9057198820017,
+            -193.38403178866614,
+            -5.54778107407739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            511.4057198820017,
+            -195.98210800001945,
+            -5.54778107407739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            509.9057198820017,
+            -198.58018421137277,
+            -5.54778107407739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            508.4057198820017,
+            -201.17826042272608,
+            -5.54778107407739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            506.9057198820017,
+            -203.7763366340794,
+            -5.54778107407739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            505.4057198820017,
+            -206.37441284543272,
+            -5.54778107407739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            503.9057198820017,
+            -208.97248905678603,
+            -5.54778107407739
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            503.9057198820017,
+            -208.97248905678603,
+            -5.54778107407739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            501.30764367064836,
+            -210.47248905678603,
+            -5.54778107407739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            498.70956745929504,
+            -211.97248905678603,
+            -5.54778107407739
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            485.3397609710694,
+            -231.23137340545657,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-40-15_813274570/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-40-15_813274570/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0ec3462de5a44b9e493084d9027de5c77f95809e
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-40-15_813274570/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            244.57857246352495,
+            -301.20267975663194,
+            -3.0469375198340884
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            247.17664867487827,
+            -302.70267975663194,
+            -3.0469375198340884
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            249.77472488623158,
+            -304.20267975663194,
+            -3.0469375198340884
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            252.3728010975849,
+            -305.70267975663194,
+            -3.0469375198340884
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            254.9708773089382,
+            -307.20267975663194,
+            -3.0469375198340884
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            257.56895352029153,
+            -308.70267975663194,
+            -3.0469375198340884
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            260.16702973164485,
+            -310.20267975663194,
+            -3.0469375198340884
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            262.76510594299816,
+            -311.70267975663194,
+            -3.0469375198340884
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            265.3631821543515,
+            -313.20267975663194,
+            -3.0469375198340884
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            265.3631821543515,
+            -313.20267975663194,
+            -3.0469375198340884
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            266.8631821543515,
+            -315.80075596798525,
+            -3.0469375198340884
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            268.3631821543515,
+            -318.39883217933857,
+            -3.0469375198340884
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            269.8631821543515,
+            -320.9969083906919,
+            -3.0469375198340884
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            271.3631821543515,
+            -323.5949846020452,
+            -3.0469375198340884
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            272.8631821543515,
+            -326.1930608133985,
+            -3.0469375198340884
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            274.3631821543515,
+            -328.79113702475183,
+            -3.0469375198340884
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            275.8631821543515,
+            -331.38921323610515,
+            -3.0469375198340884
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            277.3631821543515,
+            -333.98728944745847,
+            -3.0469375198340884
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            278.8631821543515,
+            -336.5853656588118,
+            -3.0469375198340884
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            278.8631821543515,
+            -336.5853656588118,
+            -3.0469375198340884
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            281.4612583657048,
+            -338.0853656588118,
+            -3.0469375198340884
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            284.2394945144654,
+            -340.45848770141606,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-12-26_1550101877/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-12-26_1550101877/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7ac7dc553cf67972acd7713c66b0cbdfd2f6ffda
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-12-26_1550101877/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            45.148641200378705,
+            44.20707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            48.148641200378705,
+            44.20707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            51.148641200378705,
+            44.20707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            54.148641200378705,
+            44.20707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            57.148641200378705,
+            44.20707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            60.148641200378705,
+            44.20707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            63.148641200378705,
+            44.20707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            66.1486412003787,
+            44.20707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            69.1486412003787,
+            44.20707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            72.1486412003787,
+            44.20707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            75.1486412003787,
+            44.20707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            78.1486412003787,
+            44.20707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            81.1486412003787,
+            44.20707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            84.1486412003787,
+            44.20707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            87.1486412003787,
+            44.20707656837825,
+            -8.446658126773212
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            87.1486412003787,
+            44.20707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            89.74671741173202,
+            45.70707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            92.34479362308534,
+            47.20707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            94.94286983443865,
+            48.70707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            97.54094604579197,
+            50.20707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            100.13902225714529,
+            51.70707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            102.7370984684986,
+            53.20707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            105.33517467985192,
+            54.70707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            107.93325089120523,
+            56.20707656837825,
+            -8.446658126773212
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            110.53132710255855,
+            57.70707656837825,
+            -8.446658126773212
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            112.24056682586671,
+            60.22414054870606,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-15-47_568275358/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-15-47_568275358/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c6ffce03186e34723d431ecfe21cafc395ee9f9c
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-15-47_568275358/pose.jsonl
@@ -0,0 +1,196 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1009.270604277374,
+            204.99400784956953,
+            -3.293244557065398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1009.270604277374,
+            201.99400784956953,
+            -3.293244557065398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1009.270604277374,
+            198.99400784956953,
+            -3.293244557065398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1009.270604277374,
+            195.99400784956953,
+            -3.293244557065398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1009.270604277374,
+            192.99400784956953,
+            -3.293244557065398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1009.270604277374,
+            189.99400784956953,
+            -3.293244557065398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1009.270604277374,
+            186.99400784956953,
+            -3.293244557065398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1009.270604277374,
+            183.99400784956953,
+            -3.293244557065398
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1009.270604277374,
+            183.99400784956953,
+            -3.293244557065398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1007.770604277374,
+            181.3959316382162,
+            -3.293244557065398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1006.270604277374,
+            178.7978554268629,
+            -3.293244557065398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1004.770604277374,
+            176.19977921550958,
+            -3.293244557065398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1003.270604277374,
+            173.60170300415626,
+            -3.293244557065398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1001.770604277374,
+            171.00362679280295,
+            -3.293244557065398
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            993.6485565185548,
+            138.21244525909424,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-33-55_597010431/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-33-55_597010431/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..12593211da9b52e4cb5a0337abeaad25f43ccfb8
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-33-55_597010431/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -100.20598149896809,
+            -384.5815462760409,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -97.20598149896809,
+            -384.5815462760409,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -94.20598149896809,
+            -384.5815462760409,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -91.20598149896809,
+            -384.5815462760409,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -88.20598149896809,
+            -384.5815462760409,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -85.20598149896809,
+            -384.5815462760409,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -82.20598149896809,
+            -384.5815462760409,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -79.20598149896809,
+            -384.5815462760409,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -76.20598149896809,
+            -384.5815462760409,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -73.20598149896809,
+            -384.5815462760409,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -70.20598149896809,
+            -384.5815462760409,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -67.20598149896809,
+            -384.5815462760409,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -64.20598149896809,
+            -384.5815462760409,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -61.205981498968086,
+            -384.5815462760409,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -58.205981498968086,
+            -384.5815462760409,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -55.205981498968086,
+            -384.5815462760409,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -52.205981498968086,
+            -384.5815462760409,
+            -6.151055583897627
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -52.205981498968086,
+            -384.5815462760409,
+            -6.151055583897627
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -52.205981498968086,
+            -384.5815462760409,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -50.705981498968086,
+            -381.9834700646876,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -49.205981498968086,
+            -379.3853938533343,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -47.705981498968086,
+            -376.78731764198096,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -46.205981498968086,
+            -374.18924143062765,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -44.705981498968086,
+            -371.59116521927433,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -43.205981498968086,
+            -368.993089007921,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -41.705981498968086,
+            -366.3950127965677,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -40.205981498968086,
+            -363.7969365852144,
+            -6.151055583897627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -38.705981498968086,
+            -361.19886037386107,
+            -6.151055583897627
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -37.04707775115967,
+            -360.1783214569092,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-38-40_695258232/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-38-40_695258232/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..30a5f5d98886a1e53ad697a203357503cda703d8
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-38-40_695258232/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            816.8736257830617,
+            -228.97032638609642,
+            -4.743020091645879
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            819.8736257830617,
+            -228.97032638609642,
+            -4.743020091645879
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            822.8736257830617,
+            -228.97032638609642,
+            -4.743020091645879
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            822.8736257830617,
+            -228.97032638609642,
+            -4.743020091645879
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            822.8736257830617,
+            -228.97032638609642,
+            -4.743020091645879
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            824.3736257830617,
+            -231.56840259744973,
+            -4.743020091645879
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            825.8736257830617,
+            -234.16647880880305,
+            -4.743020091645879
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            827.3736257830617,
+            -236.76455502015637,
+            -4.743020091645879
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            828.8736257830617,
+            -239.36263123150968,
+            -4.743020091645879
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            830.3736257830617,
+            -241.960707442863,
+            -4.743020091645879
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            831.8736257830617,
+            -244.5587836542163,
+            -4.743020091645879
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            833.3736257830617,
+            -247.15685986556963,
+            -4.743020091645879
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            834.8736257830617,
+            -249.75493607692295,
+            -4.743020091645879
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            834.8736257830617,
+            -249.75493607692295,
+            -4.743020091645879
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            837.4717019944151,
+            -251.25493607692295,
+            -4.743020091645879
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            840.0697782057684,
+            -252.75493607692295,
+            -4.743020091645879
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            842.6678544171218,
+            -254.25493607692295,
+            -4.743020091645879
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            845.2659306284752,
+            -255.75493607692295,
+            -4.743020091645879
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            847.8640068398286,
+            -257.25493607692295,
+            -4.743020091645879
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            871.2010513305664,
+            -278.09218101501466,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-40-54_1282291499/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-40-54_1282291499/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0e8c3faf7bdf44972e65f9a015b3e5ef36f2067b
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-40-54_1282291499/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -220.04803186037762,
+            -127.07999462005364,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -221.54803186037762,
+            -124.48191840870032,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -223.04803186037762,
+            -121.88384219734701,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -224.54803186037762,
+            -119.28576598599369,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -226.04803186037762,
+            -116.68768977464038,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -227.54803186037762,
+            -114.08961356328706,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -229.04803186037762,
+            -111.49153735193374,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -230.54803186037762,
+            -108.89346114058043,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -232.04803186037762,
+            -106.29538492922711,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -233.54803186037762,
+            -103.6973087178738,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -235.04803186037762,
+            -101.09923250652048,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -236.54803186037762,
+            -98.50115629516716,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -238.04803186037762,
+            -95.90308008381385,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -239.54803186037762,
+            -93.30500387246053,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -241.04803186037762,
+            -90.70692766110722,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -242.54803186037762,
+            -88.1088514497539,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -244.04803186037762,
+            -85.51077523840058,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -245.54803186037762,
+            -82.91269902704727,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -247.04803186037762,
+            -80.31462281569395,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -248.54803186037762,
+            -77.71654660434064,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -250.04803186037762,
+            -75.11847039298732,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -251.54803186037762,
+            -72.520394181634,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -253.04803186037762,
+            -69.92231797028069,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -254.54803186037762,
+            -67.32424175892737,
+            -5.390419770047271
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -256.0480318603776,
+            -64.72616554757406,
+            -5.390419770047271
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -254.59913692474368,
+            -62.6346962928772,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-48-43_1196774315/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-48-43_1196774315/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4d6b4bb86701f120f9c5c036c96bd640eb140eb0
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-48-43_1196774315/pose.jsonl
@@ -0,0 +1,105 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            902.4592755194834,
+            -335.6210801663791,
+            -5.905648315595287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            903.9592755194834,
+            -338.2191563777324,
+            -5.905648315595287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            905.4592755194834,
+            -340.81723258908573,
+            -5.905648315595287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            906.9592755194834,
+            -343.41530880043905,
+            -5.905648315595287
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            906.9592755194834,
+            -343.41530880043905,
+            -5.905648315595287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            906.9592755194834,
+            -346.41530880043905,
+            -5.905648315595287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            906.9592755194834,
+            -349.41530880043905,
+            -5.905648315595287
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            927.2414848327637,
+            -404.25602226257325,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-48-6_837626799/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-48-6_837626799/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..18e8894779482172785520971bb4d43600cd9cf8
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-48-6_837626799/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            930.6159544849565,
+            -299.5106734081741,
+            -1.237083310304337
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            932.1159544849565,
+            -296.9125971968208,
+            -1.237083310304337
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            933.6159544849565,
+            -294.3145209854675,
+            -1.237083310304337
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            935.1159544849565,
+            -291.71644477411417,
+            -1.237083310304337
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            936.6159544849565,
+            -289.11836856276085,
+            -1.237083310304337
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            938.1159544849565,
+            -286.52029235140753,
+            -1.237083310304337
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            938.1159544849565,
+            -286.52029235140753,
+            -1.237083310304337
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            940.7140306963099,
+            -285.02029235140753,
+            -1.237083310304337
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            943.3121069076633,
+            -283.52029235140753,
+            -1.237083310304337
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            945.9101831190167,
+            -282.02029235140753,
+            -1.237083310304337
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            948.50825933037,
+            -280.52029235140753,
+            -1.237083310304337
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            951.1063355417234,
+            -279.02029235140753,
+            -1.237083310304337
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            953.7044117530768,
+            -277.52029235140753,
+            -1.237083310304337
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            956.3024879644302,
+            -276.02029235140753,
+            -1.237083310304337
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            958.9005641757835,
+            -274.52029235140753,
+            -1.237083310304337
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            961.4986403871369,
+            -273.02029235140753,
+            -1.237083310304337
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            964.0967165984903,
+            -271.52029235140753,
+            -1.237083310304337
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            966.6947928098436,
+            -270.02029235140753,
+            -1.237083310304337
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            969.292869021197,
+            -268.52029235140753,
+            -1.237083310304337
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            984.0259399414064,
+            -252.70955543518068,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-5-3_1337434154/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-5-3_1337434154/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..26e7aafa1984c4300a770bff9c0071c9586d2891
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-5-3_1337434154/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            23.49781812799981,
+            -683.4353186863596,
+            -1.8224714443792323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            20.899741916646494,
+            -684.9353186863596,
+            -1.8224714443792323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            18.30166570529318,
+            -686.4353186863596,
+            -1.8224714443792323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            15.703589493939862,
+            -687.9353186863596,
+            -1.8224714443792323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            13.105513282586546,
+            -689.4353186863596,
+            -1.8224714443792323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            10.50743707123323,
+            -690.9353186863596,
+            -1.8224714443792323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            7.909360859879914,
+            -692.4353186863596,
+            -1.8224714443792323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            5.311284648526598,
+            -693.9353186863596,
+            -1.8224714443792323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            2.7132084371732823,
+            -695.4353186863596,
+            -1.8224714443792323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            0.1151322258199663,
+            -696.9353186863596,
+            -1.8224714443792323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -2.4829439855333497,
+            -698.4353186863596,
+            -1.8224714443792323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -5.081020196886666,
+            -699.9353186863596,
+            -1.8224714443792323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -7.679096408239982,
+            -701.4353186863596,
+            -1.8224714443792323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -10.277172619593298,
+            -702.9353186863596,
+            -1.8224714443792323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -12.875248830946614,
+            -704.4353186863596,
+            -1.8224714443792323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -15.47332504229993,
+            -705.9353186863596,
+            -1.8224714443792323
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -15.47332504229993,
+            -705.9353186863596,
+            -1.8224714443792323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -16.97332504229993,
+            -708.5333948977129,
+            -1.8224714443792323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -18.47332504229993,
+            -711.1314711090663,
+            -1.8224714443792323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -19.97332504229993,
+            -713.7295473204197,
+            -1.8224714443792323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -21.47332504229993,
+            -716.327623531773,
+            -1.8224714443792323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -22.97332504229993,
+            -718.9256997431264,
+            -1.8224714443792323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -24.47332504229993,
+            -721.5237759544798,
+            -1.8224714443792323
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -27.698616790771485,
+            -723.4622337341309,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-1-10_1987106312/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-1-10_1987106312/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6ee6deb27dcf38ed44dc6671d34375b1180e2eb3
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-1-10_1987106312/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1293.9593149198006,
+            -174.50481282161468,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1295.4593149198006,
+            -177.102889032968,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1296.9593149198006,
+            -179.7009652443213,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1298.4593149198006,
+            -182.29904145567463,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1299.9593149198006,
+            -184.89711766702794,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1301.4593149198006,
+            -187.49519387838126,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1302.9593149198006,
+            -190.09327008973457,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1304.4593149198006,
+            -192.6913463010879,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1305.9593149198006,
+            -195.2894225124412,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1307.4593149198006,
+            -197.88749872379452,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1308.9593149198006,
+            -200.48557493514784,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1310.4593149198006,
+            -203.08365114650115,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1311.9593149198006,
+            -205.68172735785447,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1313.4593149198006,
+            -208.2798035692078,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1314.9593149198006,
+            -210.8778797805611,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1316.4593149198006,
+            -213.47595599191442,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1317.9593149198006,
+            -216.07403220326773,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1319.4593149198006,
+            -218.67210841462105,
+            -5.028242572563506
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1319.4593149198006,
+            -218.67210841462105,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1322.057391131154,
+            -220.17210841462105,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1324.6554673425073,
+            -221.67210841462105,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1327.2535435538607,
+            -223.17210841462105,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1329.851619765214,
+            -224.67210841462105,
+            -5.028242572563506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1332.4496959765675,
+            -226.17210841462105,
+            -5.028242572563506
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1332.318264770508,
+            -228.70366058349612,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-21-3_1069117832/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-21-3_1069117832/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cd64670b5c256ac87ab62e0361b069b943384802
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-21-3_1069117832/pose.jsonl
@@ -0,0 +1,248 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            713.0718237162732,
+            -13.03088183099652,
+            -8.838719964055162
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            710.0718237162732,
+            -13.03088183099652,
+            -8.838719964055162
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            707.0718237162732,
+            -13.03088183099652,
+            -8.838719964055162
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            704.0718237162732,
+            -13.03088183099652,
+            -8.838719964055162
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            701.0718237162732,
+            -13.03088183099652,
+            -8.838719964055162
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            698.0718237162732,
+            -13.03088183099652,
+            -8.838719964055162
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            695.0718237162732,
+            -13.03088183099652,
+            -8.838719964055162
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            692.0718237162732,
+            -13.03088183099652,
+            -8.838719964055162
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            689.0718237162732,
+            -13.03088183099652,
+            -8.838719964055162
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            686.0718237162732,
+            -13.03088183099652,
+            -8.838719964055162
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            683.0718237162732,
+            -13.03088183099652,
+            -8.838719964055162
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            680.0718237162732,
+            -13.03088183099652,
+            -8.838719964055162
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            677.0718237162732,
+            -13.03088183099652,
+            -8.838719964055162
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            674.0718237162732,
+            -13.03088183099652,
+            -8.838719964055162
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            671.0718237162732,
+            -13.03088183099652,
+            -8.838719964055162
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            668.0718237162732,
+            -13.03088183099652,
+            -8.838719964055162
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            665.0718237162732,
+            -13.03088183099652,
+            -8.838719964055162
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            662.0718237162732,
+            -13.03088183099652,
+            -8.838719964055162
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            661.0575393676759,
+            -10.88031406402588,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-25-34_1702022939/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-25-34_1702022939/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bcb0c9ac3ca8a495486d4702c8afdbebe48ff87c
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-25-34_1702022939/pose.jsonl
@@ -0,0 +1,79 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1057.5659722512528,
+            -284.249164947667,
+            -3.696826556596231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1059.0659722512528,
+            -281.6510887363137,
+            -3.696826556596231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1060.5659722512528,
+            -279.05301252496037,
+            -3.696826556596231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1062.0659722512528,
+            -276.45493631360705,
+            -3.696826556596231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1063.5659722512528,
+            -273.85686010225373,
+            -3.696826556596231
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1078.2823501586915,
+            -224.4462232589722,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-4-57_1175446571/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-4-57_1175446571/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8fee750434fbb2975ee769b9c65a84710fe7b333
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-4-57_1175446571/pose.jsonl
@@ -0,0 +1,196 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            713.1150298138981,
+            -103.06623155719487,
+            -2.978352666270445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            710.5169536025448,
+            -101.56623155719487,
+            -2.978352666270445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            707.9188773911915,
+            -100.06623155719487,
+            -2.978352666270445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            705.3208011798381,
+            -98.56623155719487,
+            -2.978352666270445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            702.7227249684847,
+            -97.06623155719487,
+            -2.978352666270445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            700.1246487571314,
+            -95.56623155719487,
+            -2.978352666270445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            697.526572545778,
+            -94.06623155719487,
+            -2.978352666270445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            694.9284963344246,
+            -92.56623155719487,
+            -2.978352666270445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            692.3304201230712,
+            -91.06623155719487,
+            -2.978352666270445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            689.7323439117179,
+            -89.56623155719487,
+            -2.978352666270445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            687.1342677003645,
+            -88.06623155719487,
+            -2.978352666270445
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            687.1342677003645,
+            -88.06623155719487,
+            -2.978352666270445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            685.6342677003645,
+            -85.46815534584155,
+            -2.978352666270445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            684.1342677003645,
+            -82.87007913448824,
+            -2.978352666270445
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            668.9317680358887,
+            -69.13963012695314,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-40-33_2033261900/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-40-33_2033261900/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c29d19eddf29f81d02d712de8f9605fcceea750b
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-40-33_2033261900/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -10.172918046082046,
+            -573.9715099371871,
+            -1.617128515743694
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -12.770994257435362,
+            -575.4715099371871,
+            -1.617128515743694
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -15.369070468788678,
+            -576.9715099371871,
+            -1.617128515743694
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -17.967146680141994,
+            -578.4715099371871,
+            -1.617128515743694
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -20.56522289149531,
+            -579.9715099371871,
+            -1.617128515743694
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -23.163299102848626,
+            -581.4715099371871,
+            -1.617128515743694
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -25.761375314201942,
+            -582.9715099371871,
+            -1.617128515743694
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -28.359451525555258,
+            -584.4715099371871,
+            -1.617128515743694
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -30.957527736908574,
+            -585.9715099371871,
+            -1.617128515743694
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -33.55560394826189,
+            -587.4715099371871,
+            -1.617128515743694
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -36.153680159615206,
+            -588.9715099371871,
+            -1.617128515743694
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -38.75175637096852,
+            -590.4715099371871,
+            -1.617128515743694
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -38.75175637096852,
+            -590.4715099371871,
+            -1.617128515743694
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -40.25175637096852,
+            -593.0695861485403,
+            -1.617128515743694
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -41.75175637096852,
+            -595.6676623598937,
+            -1.617128515743694
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -43.25175637096852,
+            -598.2657385712471,
+            -1.617128515743694
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -44.75175637096852,
+            -600.8638147826005,
+            -1.617128515743694
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -46.25175637096852,
+            -603.4618909939538,
+            -1.617128515743694
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -47.75175637096852,
+            -606.0599672053072,
+            -1.617128515743694
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -49.25175637096852,
+            -608.6580434166606,
+            -1.617128515743694
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -50.75175637096852,
+            -611.256119628014,
+            -1.617128515743694
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -52.7497802734375,
+            -613.6590488433839,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-43-33_777635325/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-43-33_777635325/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..511e59e6acb9aa9346732102a9f1a831afc9a56b
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-43-33_777635325/pose.jsonl
@@ -0,0 +1,222 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1028.2692675778574,
+            238.518351059294,
+            -5.562772443557373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1028.2692675778574,
+            235.518351059294,
+            -5.562772443557373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1028.2692675778574,
+            232.518351059294,
+            -5.562772443557373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1028.2692675778574,
+            229.518351059294,
+            -5.562772443557373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1028.2692675778574,
+            226.518351059294,
+            -5.562772443557373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1028.2692675778574,
+            223.518351059294,
+            -5.562772443557373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1028.2692675778574,
+            220.518351059294,
+            -5.562772443557373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1028.2692675778574,
+            217.518351059294,
+            -5.562772443557373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1028.2692675778574,
+            214.518351059294,
+            -5.562772443557373
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1028.2692675778574,
+            214.518351059294,
+            -5.562772443557373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1029.7692675778574,
+            211.92027484794068,
+            -5.562772443557373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1031.2692675778574,
+            209.32219863658736,
+            -5.562772443557373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1032.7692675778574,
+            206.72412242523404,
+            -5.562772443557373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1034.2692675778574,
+            204.12604621388073,
+            -5.562772443557373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1035.7692675778574,
+            201.5279700025274,
+            -5.562772443557373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1037.2692675778574,
+            198.9298937911741,
+            -5.562772443557373
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1048.2760719299317,
+            161.26469898223877,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-47-14_384295879/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-47-14_384295879/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..362bc2f167b4c8d9fd37cf70fba7c31b763ae9c8
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-47-14_384295879/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1634.380242148366,
+            -71.9814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1631.7821659370127,
+            -73.4814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1629.1840897256593,
+            -74.9814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1626.586013514306,
+            -76.4814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1623.9879373029526,
+            -77.9814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1621.3898610915992,
+            -79.4814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1618.7917848802458,
+            -80.9814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1616.1937086688924,
+            -82.4814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1613.595632457539,
+            -83.9814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1610.9975562461857,
+            -85.4814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1608.3994800348323,
+            -86.9814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1605.801403823479,
+            -88.4814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1603.2033276121256,
+            -89.9814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1600.6052514007722,
+            -91.4814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1598.0071751894188,
+            -92.9814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1595.4090989780655,
+            -94.4814236259555,
+            -3.3313997110025673
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1595.4090989780655,
+            -94.4814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1592.4090989780655,
+            -94.4814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1589.4090989780655,
+            -94.4814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1586.4090989780655,
+            -94.4814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1583.4090989780655,
+            -94.4814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1580.4090989780655,
+            -94.4814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1577.4090989780655,
+            -94.4814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1574.4090989780655,
+            -94.4814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1571.4090989780655,
+            -94.4814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1568.4090989780655,
+            -94.4814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1565.4090989780655,
+            -94.4814236259555,
+            -3.3313997110025673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1562.4090989780655,
+            -94.4814236259555,
+            -3.3313997110025673
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1559.5110931396484,
+            -96.07600393295289,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-47-53_1343457914/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-47-53_1343457914/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9bded6e78a0d66636d623821fdded08949d32512
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-47-53_1343457914/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -267.6030215724562,
+            -7.941361639191484,
+            -6.911795125521176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -267.6030215724562,
+            -4.941361639191484,
+            -6.911795125521176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -267.6030215724562,
+            -1.9413616391914843,
+            -6.911795125521176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -267.6030215724562,
+            1.0586383608085157,
+            -6.911795125521176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -267.6030215724562,
+            4.058638360808516,
+            -6.911795125521176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -267.6030215724562,
+            7.058638360808516,
+            -6.911795125521176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -267.6030215724562,
+            10.058638360808516,
+            -6.911795125521176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -267.6030215724562,
+            13.058638360808516,
+            -6.911795125521176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -267.6030215724562,
+            16.058638360808516,
+            -6.911795125521176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -267.6030215724562,
+            19.058638360808516,
+            -6.911795125521176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -267.6030215724562,
+            22.058638360808516,
+            -6.911795125521176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -267.6030215724562,
+            25.058638360808516,
+            -6.911795125521176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -267.6030215724562,
+            28.058638360808516,
+            -6.911795125521176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -267.6030215724562,
+            31.058638360808516,
+            -6.911795125521176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -267.6030215724562,
+            34.058638360808516,
+            -6.911795125521176
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -267.6030215724562,
+            34.058638360808516,
+            -6.911795125521176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -266.1030215724562,
+            36.65671457216183,
+            -6.911795125521176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -264.6030215724562,
+            39.25479078351515,
+            -6.911795125521176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -263.1030215724562,
+            41.852866994868464,
+            -6.911795125521176
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -261.6030215724562,
+            44.45094320622178,
+            -6.911795125521176
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -259.2387418746948,
+            45.236197376251226,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-5-20_959658925/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-5-20_959658925/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2915c6ca9e09020e9753d6216a2429ff03f4a7c7
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-5-20_959658925/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            654.9861023965401,
+            45.53981770522438,
+            -5.716916416446836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            654.9861023965401,
+            42.53981770522438,
+            -5.716916416446836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            654.9861023965401,
+            39.53981770522438,
+            -5.716916416446836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            654.9861023965401,
+            36.53981770522438,
+            -5.716916416446836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            654.9861023965401,
+            33.53981770522438,
+            -5.716916416446836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            654.9861023965401,
+            30.53981770522438,
+            -5.716916416446836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            654.9861023965401,
+            27.53981770522438,
+            -5.716916416446836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            654.9861023965401,
+            24.53981770522438,
+            -5.716916416446836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            654.9861023965401,
+            21.53981770522438,
+            -5.716916416446836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            654.9861023965401,
+            18.53981770522438,
+            -5.716916416446836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            654.9861023965401,
+            15.53981770522438,
+            -5.716916416446836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            654.9861023965401,
+            12.53981770522438,
+            -5.716916416446836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            654.9861023965401,
+            9.53981770522438,
+            -5.716916416446836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            654.9861023965401,
+            6.5398177052243796,
+            -5.716916416446836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            654.9861023965401,
+            3.5398177052243796,
+            -5.716916416446836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            654.9861023965401,
+            0.5398177052243796,
+            -5.716916416446836
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            654.9861023965401,
+            0.5398177052243796,
+            -5.716916416446836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            656.4861023965401,
+            -2.0582585061289365,
+            -5.716916416446836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            657.9861023965401,
+            -4.6563347174822525,
+            -5.716916416446836
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            659.4861023965401,
+            -7.2544109288355685,
+            -5.716916416446836
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            661.0575393676759,
+            -10.88031406402588,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-5-52_805251743/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-5-52_805251743/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..25ec9dd8c04561429562041ce8667efc1d47e01e
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-5-52_805251743/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            177.8367378171403,
+            -315.76636247182375,
+            -7.78292228974124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            176.3367378171403,
+            -313.16828626047044,
+            -7.78292228974124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            174.8367378171403,
+            -310.5702100491171,
+            -7.78292228974124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            173.3367378171403,
+            -307.9721338377638,
+            -7.78292228974124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            171.8367378171403,
+            -305.3740576264105,
+            -7.78292228974124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            170.3367378171403,
+            -302.7759814150572,
+            -7.78292228974124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            168.8367378171403,
+            -300.17790520370386,
+            -7.78292228974124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            167.3367378171403,
+            -297.57982899235054,
+            -7.78292228974124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            165.8367378171403,
+            -294.9817527809972,
+            -7.78292228974124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            164.3367378171403,
+            -292.3836765696439,
+            -7.78292228974124
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            164.3367378171403,
+            -292.3836765696439,
+            -7.78292228974124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            164.3367378171403,
+            -289.3836765696439,
+            -7.78292228974124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            164.3367378171403,
+            -286.3836765696439,
+            -7.78292228974124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            164.3367378171403,
+            -283.3836765696439,
+            -7.78292228974124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            164.3367378171403,
+            -280.3836765696439,
+            -7.78292228974124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            164.3367378171403,
+            -277.3836765696439,
+            -7.78292228974124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            164.3367378171403,
+            -274.3836765696439,
+            -7.78292228974124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            164.3367378171403,
+            -271.3836765696439,
+            -7.78292228974124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            164.3367378171403,
+            -268.3836765696439,
+            -7.78292228974124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            164.3367378171403,
+            -265.3836765696439,
+            -7.78292228974124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            164.3367378171403,
+            -262.3836765696439,
+            -7.78292228974124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            164.3367378171403,
+            -259.3836765696439,
+            -7.78292228974124
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            162.22081546783448,
+            -258.53322582244874,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-1-37_421825361/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-1-37_421825361/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7217aafa6d29023a3419769d7a0c827436eb827c
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-1-37_421825361/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            773.7748890206217,
+            -520.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            773.7748890206217,
+            -517.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            773.7748890206217,
+            -514.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            773.7748890206217,
+            -511.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            773.7748890206217,
+            -508.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            773.7748890206217,
+            -505.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            773.7748890206217,
+            -502.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            773.7748890206217,
+            -499.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            773.7748890206217,
+            -496.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            773.7748890206217,
+            -493.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            773.7748890206217,
+            -490.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            773.7748890206217,
+            -487.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            773.7748890206217,
+            -484.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            773.7748890206217,
+            -481.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            773.7748890206217,
+            -478.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            773.7748890206217,
+            -475.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            773.7748890206217,
+            -472.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            773.7748890206217,
+            -469.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            773.7748890206217,
+            -466.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            773.7748890206217,
+            -463.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            773.7748890206217,
+            -460.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            773.7748890206217,
+            -457.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            773.7748890206217,
+            -454.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            773.7748890206217,
+            -454.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            773.7748890206217,
+            -454.9828808855783,
+            -1.6766556527825323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            771.1768128092683,
+            -453.4828808855783,
+            -1.6766556527825323
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            770.3367736816407,
+            -451.65129089355474,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-10-58_1821115873/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-10-58_1821115873/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..928487ab3da4f126dd723e0db70322ab2eca455b
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-10-58_1821115873/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            924.5404902213699,
+            -474.60359930471066,
+            -1.7445569251017474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            924.5404902213699,
+            -471.60359930471066,
+            -1.7445569251017474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            924.5404902213699,
+            -468.60359930471066,
+            -1.7445569251017474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            924.5404902213699,
+            -465.60359930471066,
+            -1.7445569251017474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            924.5404902213699,
+            -462.60359930471066,
+            -1.7445569251017474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            924.5404902213699,
+            -459.60359930471066,
+            -1.7445569251017474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            924.5404902213699,
+            -456.60359930471066,
+            -1.7445569251017474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            924.5404902213699,
+            -453.60359930471066,
+            -1.7445569251017474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            924.5404902213699,
+            -450.60359930471066,
+            -1.7445569251017474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            924.5404902213699,
+            -447.60359930471066,
+            -1.7445569251017474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            924.5404902213699,
+            -444.60359930471066,
+            -1.7445569251017474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            924.5404902213699,
+            -441.60359930471066,
+            -1.7445569251017474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            924.5404902213699,
+            -438.60359930471066,
+            -1.7445569251017474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            924.5404902213699,
+            -435.60359930471066,
+            -1.7445569251017474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            924.5404902213699,
+            -432.60359930471066,
+            -1.7445569251017474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            924.5404902213699,
+            -429.60359930471066,
+            -1.7445569251017474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            924.5404902213699,
+            -426.60359930471066,
+            -1.7445569251017474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            924.5404902213699,
+            -423.60359930471066,
+            -1.7445569251017474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            924.5404902213699,
+            -420.60359930471066,
+            -1.7445569251017474
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            927.2414848327637,
+            -404.25602226257325,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-20-39_437180529/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-20-39_437180529/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c04b7abf27761f844f016d217742298c9c535f0c
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-20-39_437180529/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1529.8615816991096,
+            -3.95998559105025,
+            -0.2659657390267398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1527.2635054877562,
+            -2.45998559105025,
+            -0.2659657390267398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1524.6654292764028,
+            -0.9599855910502504,
+            -0.2659657390267398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1522.0673530650495,
+            0.5400144089497494,
+            -0.2659657390267398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1519.469276853696,
+            2.040014408949749,
+            -0.2659657390267398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991504
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1516.8712006423427,
+            3.540014408949749,
+            -0.2659657390267398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1514.2731244309894,
+            5.040014408949749,
+            -0.2659657390267398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1511.675048219636,
+            6.540014408949749,
+            -0.2659657390267398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1509.0769720082826,
+            8.040014408949748,
+            -0.2659657390267398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991504
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1506.4788957969292,
+            9.540014408949748,
+            -0.2659657390267398
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1506.4788957969292,
+            9.540014408949748,
+            -0.2659657390267398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1503.4788957969292,
+            9.540014408949748,
+            -0.2659657390267398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1500.4788957969292,
+            9.540014408949748,
+            -0.2659657390267398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1497.4788957969292,
+            9.540014408949748,
+            -0.2659657390267398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1494.4788957969292,
+            9.540014408949748,
+            -0.2659657390267398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1491.4788957969292,
+            9.540014408949748,
+            -0.2659657390267398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1488.4788957969292,
+            9.540014408949748,
+            -0.2659657390267398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1485.4788957969292,
+            9.540014408949748,
+            -0.2659657390267398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1482.4788957969292,
+            9.540014408949748,
+            -0.2659657390267398
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1479.4788957969292,
+            9.540014408949748,
+            -0.2659657390267398
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1477.724824523926,
+            10.967879819869996,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-31-34_204428608/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-31-34_204428608/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..437c10af6df086d4c9d34a1d0362fc5dcc084313
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-31-34_204428608/pose.jsonl
@@ -0,0 +1,209 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1512.1360707836232,
+            -177.6009877020144,
+            -8.135004204306684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1512.1360707836232,
+            -174.6009877020144,
+            -8.135004204306684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1512.1360707836232,
+            -171.6009877020144,
+            -8.135004204306684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1512.1360707836232,
+            -168.6009877020144,
+            -8.135004204306684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1512.1360707836232,
+            -165.6009877020144,
+            -8.135004204306684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1512.1360707836232,
+            -162.6009877020144,
+            -8.135004204306684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1512.1360707836232,
+            -159.6009877020144,
+            -8.135004204306684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1512.1360707836232,
+            -156.6009877020144,
+            -8.135004204306684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1512.1360707836232,
+            -153.6009877020144,
+            -8.135004204306684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1512.1360707836232,
+            -150.6009877020144,
+            -8.135004204306684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1512.1360707836232,
+            -147.6009877020144,
+            -8.135004204306684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1512.1360707836232,
+            -144.6009877020144,
+            -8.135004204306684
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1512.1360707836232,
+            -144.6009877020144,
+            -8.135004204306684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1513.6360707836232,
+            -142.0029114906611,
+            -8.135004204306684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1515.1360707836232,
+            -139.40483527930778,
+            -8.135004204306684
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1517.6720581054688,
+            -108.54975051879883,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-41-1_296528780/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-41-1_296528780/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..abd81549f15e41d0012d1ce903e3679a79e7d9a3
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-41-1_296528780/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            140.20486143706026,
+            -318.3135331436658,
+            -2.1842545987940944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            141.70486143706026,
+            -315.71545693231246,
+            -2.1842545987940944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            143.20486143706026,
+            -313.11738072095915,
+            -2.1842545987940944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            144.70486143706026,
+            -310.51930450960583,
+            -2.1842545987940944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            146.20486143706026,
+            -307.9212282982525,
+            -2.1842545987940944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            147.70486143706026,
+            -305.3231520868992,
+            -2.1842545987940944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            149.20486143706026,
+            -302.7250758755459,
+            -2.1842545987940944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            150.70486143706026,
+            -300.12699966419257,
+            -2.1842545987940944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            152.20486143706026,
+            -297.52892345283925,
+            -2.1842545987940944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            153.70486143706026,
+            -294.93084724148594,
+            -2.1842545987940944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            155.20486143706026,
+            -292.3327710301326,
+            -2.1842545987940944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            156.70486143706026,
+            -289.7346948187793,
+            -2.1842545987940944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            158.20486143706026,
+            -287.136618607426,
+            -2.1842545987940944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            159.70486143706026,
+            -284.53854239607267,
+            -2.1842545987940944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            161.20486143706026,
+            -281.94046618471936,
+            -2.1842545987940944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            162.70486143706026,
+            -279.34238997336604,
+            -2.1842545987940944
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            162.70486143706026,
+            -279.34238997336604,
+            -2.1842545987940944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            162.70486143706026,
+            -276.34238997336604,
+            -2.1842545987940944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            162.70486143706026,
+            -273.34238997336604,
+            -2.1842545987940944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            162.70486143706026,
+            -270.34238997336604,
+            -2.1842545987940944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            162.70486143706026,
+            -267.34238997336604,
+            -2.1842545987940944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            162.70486143706026,
+            -264.34238997336604,
+            -2.1842545987940944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            162.70486143706026,
+            -261.34238997336604,
+            -2.1842545987940944
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            162.22081546783448,
+            -258.53322582244874,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-42-54_614340012/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-42-54_614340012/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8c7f2c4993f308eb6dbef175e16dbea0b36653df
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-42-54_614340012/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -214.51413976420903,
+            -150.57852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -217.11221597556235,
+            -152.07852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -219.71029218691567,
+            -153.57852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -222.30836839826898,
+            -155.07852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -224.9064446096223,
+            -156.57852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -227.5045208209756,
+            -158.07852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -230.10259703232893,
+            -159.57852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -232.70067324368225,
+            -161.07852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -235.29874945503556,
+            -162.57852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -237.89682566638888,
+            -164.07852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -240.4949018777422,
+            -165.57852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -243.0929780890955,
+            -167.07852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -245.69105430044883,
+            -168.57852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -248.28913051180214,
+            -170.07852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -250.88720672315546,
+            -171.57852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -253.48528293450877,
+            -173.07852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -256.0833591458621,
+            -174.57852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914993
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -258.68143535721543,
+            -176.07852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -261.27951156856875,
+            -177.57852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -263.87758777992207,
+            -179.07852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -266.4756639912754,
+            -180.57852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -269.0737402026287,
+            -182.07852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -271.671816413982,
+            -183.57852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -274.26989262533533,
+            -185.07852505161696,
+            -7.216815345783408
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -276.86796883668865,
+            -186.57852505161696,
+            -7.216815345783408
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -277.72470836639405,
+            -188.3509792327881,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-43-22_1855103807/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-43-22_1855103807/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dfcd876b592def283473b7a75b1a25d48d5fb3d1
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-43-22_1855103807/pose.jsonl
@@ -0,0 +1,209 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            462.8755040044945,
+            -420.9616300451425,
+            -0.6708104758263485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            459.8755040044945,
+            -420.9616300451425,
+            -0.6708104758263485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            456.8755040044945,
+            -420.9616300451425,
+            -0.6708104758263485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            453.8755040044945,
+            -420.9616300451425,
+            -0.6708104758263485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            450.8755040044945,
+            -420.9616300451425,
+            -0.6708104758263485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            447.8755040044945,
+            -420.9616300451425,
+            -0.6708104758263485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            444.8755040044945,
+            -420.9616300451425,
+            -0.6708104758263485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            441.8755040044945,
+            -420.9616300451425,
+            -0.6708104758263485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            438.8755040044945,
+            -420.9616300451425,
+            -0.6708104758263485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            435.8755040044945,
+            -420.9616300451425,
+            -0.6708104758263485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            432.8755040044945,
+            -420.9616300451425,
+            -0.6708104758263485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            429.8755040044945,
+            -420.9616300451425,
+            -0.6708104758263485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            426.8755040044945,
+            -420.9616300451425,
+            -0.6708104758263485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            423.8755040044945,
+            -420.9616300451425,
+            -0.6708104758263485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            420.8755040044945,
+            -420.9616300451425,
+            -0.6708104758263485
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            410.6194187164307,
+            -422.415909576416,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-51-57_824722490/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-51-57_824722490/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9c419aa3a27bc9ae872b20402523ca2891773a5e
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-51-57_824722490/pose.jsonl
@@ -0,0 +1,209 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            822.4134614838775,
+            -350.0197008984713,
+            -3.384488672809524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            825.0115376952308,
+            -351.5197008984713,
+            -3.384488672809524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            827.6096139065842,
+            -353.0197008984713,
+            -3.384488672809524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            830.2076901179375,
+            -354.5197008984713,
+            -3.384488672809524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            832.8057663292909,
+            -356.0197008984713,
+            -3.384488672809524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            835.4038425406443,
+            -357.5197008984713,
+            -3.384488672809524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            838.0019187519977,
+            -359.0197008984713,
+            -3.384488672809524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            840.599994963351,
+            -360.5197008984713,
+            -3.384488672809524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            843.1980711747044,
+            -362.0197008984713,
+            -3.384488672809524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            845.7961473860578,
+            -363.5197008984713,
+            -3.384488672809524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            848.3942235974112,
+            -365.0197008984713,
+            -3.384488672809524
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            848.3942235974112,
+            -365.0197008984713,
+            -3.384488672809524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            849.8942235974112,
+            -367.6177771098246,
+            -3.384488672809524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            851.3942235974112,
+            -370.2158533211779,
+            -3.384488672809524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            852.8942235974112,
+            -372.81392953253123,
+            -3.384488672809524
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            874.085353088379,
+            -387.6059455871582,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-52-8_1267040926/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-52-8_1267040926/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..83500615454bd6d60c896c483949d9239a56e335
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-52-8_1267040926/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            109.43813857902924,
+            238.04911373735757,
+            -9.486663559791987
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            109.43813857902924,
+            235.04911373735757,
+            -9.486663559791987
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            109.43813857902924,
+            232.04911373735757,
+            -9.486663559791987
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            109.43813857902924,
+            229.04911373735757,
+            -9.486663559791987
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            109.43813857902924,
+            226.04911373735757,
+            -9.486663559791987
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            109.43813857902924,
+            223.04911373735757,
+            -9.486663559791987
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            109.43813857902924,
+            220.04911373735757,
+            -9.486663559791987
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            109.43813857902924,
+            217.04911373735757,
+            -9.486663559791987
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            109.43813857902924,
+            214.04911373735757,
+            -9.486663559791987
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            109.43813857902924,
+            211.04911373735757,
+            -9.486663559791987
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            109.43813857902924,
+            208.04911373735757,
+            -9.486663559791987
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            109.43813857902924,
+            205.04911373735757,
+            -9.486663559791987
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            109.43813857902924,
+            202.04911373735757,
+            -9.486663559791987
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            109.43813857902924,
+            199.04911373735757,
+            -9.486663559791987
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            109.43813857902924,
+            196.04911373735757,
+            -9.486663559791987
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            109.43813857902924,
+            193.04911373735757,
+            -9.486663559791987
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            109.43813857902924,
+            190.04911373735757,
+            -9.486663559791987
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            109.43813857902924,
+            187.04911373735757,
+            -9.486663559791987
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            109.43813857902924,
+            184.04911373735757,
+            -9.486663559791987
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            109.43813857902924,
+            181.04911373735757,
+            -9.486663559791987
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            109.43813857902924,
+            178.04911373735757,
+            -9.486663559791987
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            108.78504695892335,
+            175.8657693862915,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-53-51_1820042348/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-53-51_1820042348/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bd0e50f6dc5c36c19001c2b9caf5bad3df75f07f
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-53-51_1820042348/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            89.52262245139114,
+            -614.0443362434902,
+            -9.94483833998445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            86.92454624003783,
+            -612.5443362434902,
+            -9.94483833998445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            84.32647002868451,
+            -611.0443362434902,
+            -9.94483833998445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            81.7283938173312,
+            -609.5443362434902,
+            -9.94483833998445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            79.13031760597788,
+            -608.0443362434902,
+            -9.94483833998445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            76.53224139462456,
+            -606.5443362434902,
+            -9.94483833998445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            73.93416518327125,
+            -605.0443362434902,
+            -9.94483833998445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            71.33608897191793,
+            -603.5443362434902,
+            -9.94483833998445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            68.73801276056462,
+            -602.0443362434902,
+            -9.94483833998445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            66.1399365492113,
+            -600.5443362434902,
+            -9.94483833998445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            63.54186033785798,
+            -599.0443362434902,
+            -9.94483833998445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            60.94378412650467,
+            -597.5443362434902,
+            -9.94483833998445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            58.34570791515135,
+            -596.0443362434902,
+            -9.94483833998445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            55.747631703798035,
+            -594.5443362434902,
+            -9.94483833998445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            53.14955549244472,
+            -593.0443362434902,
+            -9.94483833998445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            50.5514792810914,
+            -591.5443362434902,
+            -9.94483833998445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            47.95340306973809,
+            -590.0443362434902,
+            -9.94483833998445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            45.35532685838477,
+            -588.5443362434902,
+            -9.94483833998445
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            45.35532685838477,
+            -588.5443362434902,
+            -9.94483833998445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            42.35532685838477,
+            -588.5443362434902,
+            -9.94483833998445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            39.35532685838477,
+            -588.5443362434902,
+            -9.94483833998445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            36.35532685838477,
+            -588.5443362434902,
+            -9.94483833998445
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            33.35532685838477,
+            -588.5443362434902,
+            -9.94483833998445
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            29.783947944641117,
+            -587.6620632171631,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-55-49_1961415139/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-55-49_1961415139/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7e0401d775ae248d1d8aae968b4f7d2ad9e52c17
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-55-49_1961415139/pose.jsonl
@@ -0,0 +1,248 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            397.0591437638028,
+            -340.1903618678362,
+            -9.50203078121266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            399.6572199751561,
+            -338.6903618678362,
+            -9.50203078121266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            402.25529618650944,
+            -337.1903618678362,
+            -9.50203078121266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            404.85337239786276,
+            -335.6903618678362,
+            -9.50203078121266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            407.4514486092161,
+            -334.1903618678362,
+            -9.50203078121266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            410.0495248205694,
+            -332.6903618678362,
+            -9.50203078121266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            412.6476010319227,
+            -331.1903618678362,
+            -9.50203078121266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            415.245677243276,
+            -329.6903618678362,
+            -9.50203078121266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            417.84375345462934,
+            -328.1903618678362,
+            -9.50203078121266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            420.44182966598265,
+            -326.6903618678362,
+            -9.50203078121266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            423.03990587733597,
+            -325.1903618678362,
+            -9.50203078121266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            425.6379820886893,
+            -323.6903618678362,
+            -9.50203078121266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            428.2360583000426,
+            -322.1903618678362,
+            -9.50203078121266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            430.8341345113959,
+            -320.6903618678362,
+            -9.50203078121266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            433.43221072274923,
+            -319.1903618678362,
+            -9.50203078121266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            436.03028693410255,
+            -317.6903618678362,
+            -9.50203078121266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            438.62836314545586,
+            -316.1903618678362,
+            -9.50203078121266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            441.2264393568092,
+            -314.6903618678362,
+            -9.50203078121266
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            464.3743118286133,
+            -298.84694976806645,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-27-43_1818150212/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-27-43_1818150212/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5f18294650a6046038f687275003c7bd91fc356b
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-27-43_1818150212/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            298.4411905878762,
+            -566.1162033414978,
+            -8.304255694367901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            296.9411905878762,
+            -563.5181271301444,
+            -8.304255694367901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            295.4411905878762,
+            -560.920050918791,
+            -8.304255694367901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            293.9411905878762,
+            -558.3219747074377,
+            -8.304255694367901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            292.4411905878762,
+            -555.7238984960843,
+            -8.304255694367901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            290.9411905878762,
+            -553.1258222847309,
+            -8.304255694367901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            289.4411905878762,
+            -550.5277460733776,
+            -8.304255694367901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            287.9411905878762,
+            -547.9296698620242,
+            -8.304255694367901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            286.4411905878762,
+            -545.3315936506708,
+            -8.304255694367901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            284.9411905878762,
+            -542.7335174393174,
+            -8.304255694367901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            283.4411905878762,
+            -540.1354412279641,
+            -8.304255694367901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            281.9411905878762,
+            -537.5373650166107,
+            -8.304255694367901
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            281.9411905878762,
+            -537.5373650166107,
+            -8.304255694367901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            281.9411905878762,
+            -534.5373650166107,
+            -8.304255694367901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            281.9411905878762,
+            -531.5373650166107,
+            -8.304255694367901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            281.9411905878762,
+            -528.5373650166107,
+            -8.304255694367901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            281.9411905878762,
+            -525.5373650166107,
+            -8.304255694367901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            281.9411905878762,
+            -522.5373650166107,
+            -8.304255694367901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            281.9411905878762,
+            -519.5373650166107,
+            -8.304255694367901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            281.9411905878762,
+            -516.5373650166107,
+            -8.304255694367901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            281.9411905878762,
+            -513.5373650166107,
+            -8.304255694367901
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            281.9411905878762,
+            -510.5373650166107,
+            -8.304255694367901
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            283.3368732452393,
+            -507.865353012085,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-44-58_1129707775/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-44-58_1129707775/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..04ccafc433a6b110609dbfe648c9138271e76d9a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-44-58_1129707775/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            132.3054002351246,
+            106.85196780504047,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            130.8054002351246,
+            109.45004401639379,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            129.3054002351246,
+            112.0481202277471,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            127.80540023512461,
+            114.64619643910042,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            126.30540023512461,
+            117.24427265045374,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            124.80540023512461,
+            119.84234886180705,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            123.30540023512461,
+            122.44042507316037,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            121.80540023512461,
+            125.03850128451369,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            120.30540023512461,
+            127.636577495867,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            118.80540023512461,
+            130.23465370722033,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393193
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            117.30540023512461,
+            132.83272991857365,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            115.80540023512461,
+            135.43080612992696,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            114.30540023512461,
+            138.02888234128028,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            112.80540023512461,
+            140.6269585526336,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            111.30540023512461,
+            143.2250347639869,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            109.80540023512461,
+            145.82311097534023,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            108.30540023512461,
+            148.42118718669354,
+            -2.3896460445707026
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            108.30540023512461,
+            148.42118718669354,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            108.30540023512461,
+            151.42118718669354,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            108.30540023512461,
+            154.42118718669354,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            108.30540023512461,
+            157.42118718669354,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            108.30540023512461,
+            160.42118718669354,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            108.30540023512461,
+            163.42118718669354,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            108.30540023512461,
+            166.42118718669354,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            108.30540023512461,
+            169.42118718669354,
+            -2.3896460445707026
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            108.30540023512461,
+            172.42118718669354,
+            -2.3896460445707026
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            108.78504695892335,
+            175.8657693862915,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-46-54_1196153579/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-46-54_1196153579/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..03fb46c8725b4e9c1a68762f396893500d8d80a4
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-46-54_1196153579/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -19.021346366744766,
+            -404.87078946675905,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -17.521346366744766,
+            -407.46886567811237,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -16.021346366744766,
+            -410.0669418894657,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -14.521346366744766,
+            -412.665018100819,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -13.021346366744766,
+            -415.2630943121723,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -11.521346366744766,
+            -417.86117052352563,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -10.021346366744766,
+            -420.45924673487895,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -8.521346366744766,
+            -423.05732294623226,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -7.0213463667447655,
+            -425.6553991575856,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -5.5213463667447655,
+            -428.2534753689389,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -4.0213463667447655,
+            -430.8515515802922,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -2.521346366744765,
+            -433.4496277916455,
+            -9.292957756548185
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -2.521346366744765,
+            -433.4496277916455,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -2.521346366744765,
+            -436.4496277916455,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -2.521346366744765,
+            -439.4496277916455,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -2.521346366744765,
+            -442.4496277916455,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -2.521346366744765,
+            -445.4496277916455,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -2.521346366744765,
+            -448.4496277916455,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -2.521346366744765,
+            -451.4496277916455,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -2.521346366744765,
+            -454.4496277916455,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -2.521346366744765,
+            -457.4496277916455,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -2.521346366744765,
+            -460.4496277916455,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -2.521346366744765,
+            -463.4496277916455,
+            -9.292957756548185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -2.521346366744765,
+            -466.4496277916455,
+            -9.292957756548185
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -3.1689678192138673,
+            -469.5184967041016,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-48-53_219976257/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-48-53_219976257/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5a244c1b997522ad32102592fa60c813c8155a90
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-48-53_219976257/pose.jsonl
@@ -0,0 +1,391 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            7.928030983817244,
+            -87.10328866574369,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            10.928030983817244,
+            -87.10328866574369,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            13.928030983817244,
+            -87.10328866574369,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            16.928030983817244,
+            -87.10328866574369,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            19.928030983817244,
+            -87.10328866574369,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            22.928030983817244,
+            -87.10328866574369,
+            -3.5639575042336507
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            22.928030983817244,
+            -87.10328866574369,
+            -3.5639575042336507
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            22.928030983817244,
+            -87.10328866574369,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            24.428030983817244,
+            -84.50521245439037,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            25.928030983817244,
+            -81.90713624303706,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            27.428030983817244,
+            -79.30906003168374,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            28.928030983817244,
+            -76.71098382033043,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            30.428030983817244,
+            -74.11290760897711,
+            -3.5639575042336507
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            30.428030983817244,
+            -74.11290760897711,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            33.02610719517056,
+            -72.61290760897711,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            35.624183406523876,
+            -71.11290760897711,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            38.22225961787719,
+            -69.61290760897711,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            40.82033582923051,
+            -68.11290760897711,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            43.418412040583824,
+            -66.61290760897711,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            46.01648825193714,
+            -65.11290760897711,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            48.614564463290456,
+            -63.61290760897711,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            51.21264067464377,
+            -62.11290760897711,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            53.81071688599709,
+            -60.61290760897711,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            56.408793097350404,
+            -59.11290760897711,
+            -3.5639575042336507
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            56.408793097350404,
+            -59.11290760897711,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            59.408793097350404,
+            -59.11290760897711,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            62.408793097350404,
+            -59.11290760897711,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            65.40879309735041,
+            -59.11290760897711,
+            -3.5639575042336507
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            68.40879309735041,
+            -59.11290760897711,
+            -3.5639575042336507
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            70.69211120605469,
+            -56.732511901855474,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-49-33_1874412034/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-49-33_1874412034/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c6ab47b88b8172ff3394c9509adf350e2e87f08e
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-49-33_1874412034/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            253.98141612470843,
+            252.12164837899238,
+            -8.352495715864112
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            253.98141612470843,
+            249.12164837899238,
+            -8.352495715864112
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            253.98141612470843,
+            246.12164837899238,
+            -8.352495715864112
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            253.98141612470843,
+            243.12164837899238,
+            -8.352495715864112
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            253.98141612470843,
+            240.12164837899238,
+            -8.352495715864112
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            253.98141612470843,
+            237.12164837899238,
+            -8.352495715864112
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            253.98141612470843,
+            234.12164837899238,
+            -8.352495715864112
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            253.98141612470843,
+            231.12164837899238,
+            -8.352495715864112
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            253.98141612470843,
+            228.12164837899238,
+            -8.352495715864112
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            253.98141612470843,
+            225.12164837899238,
+            -8.352495715864112
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            253.98141612470843,
+            222.12164837899238,
+            -8.352495715864112
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            253.98141612470843,
+            219.12164837899238,
+            -8.352495715864112
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            253.98141612470843,
+            216.12164837899238,
+            -8.352495715864112
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            253.98141612470843,
+            213.12164837899238,
+            -8.352495715864112
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            253.98141612470843,
+            210.12164837899238,
+            -8.352495715864112
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            253.98141612470843,
+            207.12164837899238,
+            -8.352495715864112
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            253.98141612470843,
+            207.12164837899238,
+            -8.352495715864112
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            252.48141612470843,
+            204.52357216763906,
+            -8.352495715864112
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            250.98141612470843,
+            201.92549595628574,
+            -8.352495715864112
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            249.48141612470843,
+            199.32741974493243,
+            -8.352495715864112
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            247.98141612470843,
+            196.7293435335791,
+            -8.352495715864112
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            247.98141612470843,
+            196.7293435335791,
+            -8.352495715864112
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            245.38333991335512,
+            195.2293435335791,
+            -8.352495715864112
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            243.237640953064,
+            194.2933292388916,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-58-22_300819353/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-58-22_300819353/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4a02ca3cd9d820471460742b5ba87562636fd5f0
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-58-22_300819353/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1387.2596951967769,
+            139.56258214615548,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1388.7596951967769,
+            136.96450593480216,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1390.2596951967769,
+            134.36642972344885,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1391.7596951967769,
+            131.76835351209553,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1393.2596951967769,
+            129.1702773007422,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1394.7596951967769,
+            126.5722010893889,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1396.2596951967769,
+            123.97412487803558,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1397.7596951967769,
+            121.37604866668227,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1399.2596951967769,
+            118.77797245532895,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1400.7596951967769,
+            116.17989624397563,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1402.2596951967769,
+            113.58182003262232,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1403.7596951967769,
+            110.983743821269,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1405.2596951967769,
+            108.38566760991569,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1406.7596951967769,
+            105.78759139856237,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1408.2596951967769,
+            103.18951518720905,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1409.7596951967769,
+            100.59143897585574,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1411.2596951967769,
+            97.99336276450242,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1412.7596951967769,
+            95.3952865531491,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1414.2596951967769,
+            92.79721034179579,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1415.7596951967769,
+            90.19913413044247,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1417.2596951967769,
+            87.60105791908916,
+            -5.977103401580843
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1417.2596951967769,
+            87.60105791908916,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1419.8577714081302,
+            86.10105791908916,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1422.4558476194836,
+            84.60105791908916,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1425.053923830837,
+            83.10105791908916,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1427.6520000421904,
+            81.60105791908916,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1430.2500762535437,
+            80.10105791908916,
+            -5.977103401580843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1432.848152464897,
+            78.60105791908916,
+            -5.977103401580843
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1432.5684967041016,
+            76.17316565513612,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-6-17_1825051735/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-6-17_1825051735/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..03234b45309eb4a345e20fbf3fdf6ca6cfac5f02
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-6-17_1825051735/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1364.572389922317,
+            192.5535186545818,
+            -2.37452060248655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1366.072389922317,
+            189.9554424432285,
+            -2.37452060248655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1367.572389922317,
+            187.35736623187518,
+            -2.37452060248655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1369.072389922317,
+            184.75929002052186,
+            -2.37452060248655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1370.572389922317,
+            182.16121380916854,
+            -2.37452060248655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1372.072389922317,
+            179.56313759781523,
+            -2.37452060248655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1373.572389922317,
+            176.9650613864619,
+            -2.37452060248655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1375.072389922317,
+            174.3669851751086,
+            -2.37452060248655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1376.572389922317,
+            171.76890896375528,
+            -2.37452060248655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1378.072389922317,
+            169.17083275240196,
+            -2.37452060248655
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1378.072389922317,
+            169.17083275240196,
+            -2.37452060248655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1380.6704661336703,
+            167.67083275240196,
+            -2.37452060248655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1383.2685423450237,
+            166.17083275240196,
+            -2.37452060248655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1385.866618556377,
+            164.67083275240196,
+            -2.37452060248655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1388.4646947677304,
+            163.17083275240196,
+            -2.37452060248655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1391.0627709790838,
+            161.67083275240196,
+            -2.37452060248655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1393.6608471904372,
+            160.17083275240196,
+            -2.37452060248655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1396.2589234017905,
+            158.67083275240196,
+            -2.37452060248655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1398.856999613144,
+            157.17083275240196,
+            -2.37452060248655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1401.4550758244973,
+            155.67083275240196,
+            -2.37452060248655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1404.0531520358506,
+            154.17083275240196,
+            -2.37452060248655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1406.651228247204,
+            152.67083275240196,
+            -2.37452060248655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1409.2493044585574,
+            151.17083275240196,
+            -2.37452060248655
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1412.041893005371,
+            150.22052021026613,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-15-51_1923775275/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-15-51_1923775275/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2f569eb41727a8aa6a632a4df8537b9edce86a8a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-15-51_1923775275/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            257.7787932385001,
+            68.64852260731506,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            257.7787932385001,
+            71.64852260731506,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            257.7787932385001,
+            74.64852260731506,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            257.7787932385001,
+            77.64852260731506,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            257.7787932385001,
+            80.64852260731506,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            257.7787932385001,
+            83.64852260731506,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            257.7787932385001,
+            86.64852260731506,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            257.7787932385001,
+            89.64852260731506,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            257.7787932385001,
+            92.64852260731506,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            257.7787932385001,
+            95.64852260731506,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            257.7787932385001,
+            98.64852260731506,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            257.7787932385001,
+            101.64852260731506,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            257.7787932385001,
+            104.64852260731506,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            257.7787932385001,
+            107.64852260731506,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            257.7787932385001,
+            110.64852260731506,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            257.7787932385001,
+            113.64852260731506,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            257.7787932385001,
+            116.64852260731506,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            257.7787932385001,
+            119.64852260731506,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            257.7787932385001,
+            122.64852260731506,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            257.7787932385001,
+            125.64852260731506,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            257.7787932385001,
+            128.64852260731504,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            257.7787932385001,
+            131.64852260731504,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            257.7787932385001,
+            134.64852260731504,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            257.7787932385001,
+            137.64852260731504,
+            -0.3970974540248289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            257.7787932385001,
+            140.64852260731504,
+            -0.3970974540248289
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            258.26647663116455,
+            142.7095600128174,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-22-21_441971924/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-22-21_441971924/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8fbcbe23bc492ae44c2c50b0404380d5d6383e4f
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-22-21_441971924/pose.jsonl
@@ -0,0 +1,196 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            948.0176303630835,
+            -462.13192174137646,
+            -0.42029770043583525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            946.5176303630835,
+            -459.53384553002314,
+            -0.42029770043583525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            945.0176303630835,
+            -456.9357693186698,
+            -0.42029770043583525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            943.5176303630835,
+            -454.3376931073165,
+            -0.42029770043583525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            942.0176303630835,
+            -451.7396168959632,
+            -0.42029770043583525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            940.5176303630835,
+            -449.1415406846099,
+            -0.42029770043583525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            939.0176303630835,
+            -446.54346447325656,
+            -0.42029770043583525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            937.5176303630835,
+            -443.94538826190325,
+            -0.42029770043583525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            936.0176303630835,
+            -441.34731205054993,
+            -0.42029770043583525
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            936.0176303630835,
+            -441.34731205054993,
+            -0.42029770043583525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            936.0176303630835,
+            -438.34731205054993,
+            -0.42029770043583525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            936.0176303630835,
+            -435.34731205054993,
+            -0.42029770043583525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            936.0176303630835,
+            -432.34731205054993,
+            -0.42029770043583525
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            936.0176303630835,
+            -429.34731205054993,
+            -0.42029770043583525
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            927.2414848327637,
+            -404.25602226257325,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-24-34_1970782719/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-24-34_1970782719/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c86cef389f184a2199309ac951505f10ce6d24d9
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-24-34_1970782719/pose.jsonl
@@ -0,0 +1,391 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            107.63297500502988,
+            -305.3348052046925,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            110.63297500502988,
+            -305.3348052046925,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            113.63297500502988,
+            -305.3348052046925,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            116.63297500502988,
+            -305.3348052046925,
+            -9.865110109226292
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            116.63297500502988,
+            -305.3348052046925,
+            -9.865110109226292
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            116.63297500502988,
+            -305.3348052046925,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            118.13297500502988,
+            -302.73672899333917,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            119.63297500502988,
+            -300.13865278198585,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            121.13297500502988,
+            -297.54057657063254,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            122.63297500502988,
+            -294.9425003592792,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            124.13297500502988,
+            -292.3444241479259,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            125.63297500502988,
+            -289.7463479365726,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            127.13297500502988,
+            -287.1482717252193,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            128.6329750050299,
+            -284.55019551386596,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965936
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            130.1329750050299,
+            -281.95211930251264,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            131.6329750050299,
+            -279.3540430911593,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            133.1329750050299,
+            -276.755966879806,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            134.6329750050299,
+            -274.1578906684527,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            136.1329750050299,
+            -271.5598144570994,
+            -9.865110109226292
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            136.1329750050299,
+            -271.5598144570994,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            138.7310512163832,
+            -270.0598144570994,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            141.32912742773652,
+            -268.5598144570994,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            143.92720363908984,
+            -267.0598144570994,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            146.52527985044316,
+            -265.5598144570994,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            149.12335606179647,
+            -264.0598144570994,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            151.7214322731498,
+            -262.5598144570994,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            154.3195084845031,
+            -261.0598144570994,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            156.91758469585642,
+            -259.5598144570994,
+            -9.865110109226292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            159.51566090720974,
+            -258.0598144570994,
+            -9.865110109226292
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            162.22081546783448,
+            -258.53322582244874,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-38-6_1676314462/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-38-6_1676314462/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b903417b549e1f8190e49aeb161affa00a09ec83
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-38-6_1676314462/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            761.644657009428,
+            -69.89184348365775,
+            -9.712579226448709
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            763.144657009428,
+            -67.29376727230444,
+            -9.712579226448709
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            764.644657009428,
+            -64.69569106095112,
+            -9.712579226448709
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            766.144657009428,
+            -62.097614849597804,
+            -9.712579226448709
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            767.644657009428,
+            -59.49953863824449,
+            -9.712579226448709
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            769.144657009428,
+            -56.90146242689117,
+            -9.712579226448709
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            770.644657009428,
+            -54.303386215537856,
+            -9.712579226448709
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            772.144657009428,
+            -51.70531000418454,
+            -9.712579226448709
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            773.644657009428,
+            -49.107233792831224,
+            -9.712579226448709
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            775.144657009428,
+            -46.50915758147791,
+            -9.712579226448709
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            776.644657009428,
+            -43.91108137012459,
+            -9.712579226448709
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            778.144657009428,
+            -41.313005158771276,
+            -9.712579226448709
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            779.644657009428,
+            -38.71492894741796,
+            -9.712579226448709
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            781.144657009428,
+            -36.116852736064644,
+            -9.712579226448709
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            782.644657009428,
+            -33.51877652471133,
+            -9.712579226448709
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            782.644657009428,
+            -33.51877652471133,
+            -9.712579226448709
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            782.644657009428,
+            -30.518776524711328,
+            -9.712579226448709
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            782.644657009428,
+            -27.518776524711328,
+            -9.712579226448709
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            782.644657009428,
+            -24.518776524711328,
+            -9.712579226448709
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            785.4496536254883,
+            -18.975487995147706,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-41-42_1156565744/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-41-42_1156565744/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..006b9058acb5e932cf6de69b5548e608e54f4d28
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-41-42_1156565744/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            719.8614920253298,
+            -31.164171233166925,
+            -2.588141089532537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            722.8614920253298,
+            -31.164171233166925,
+            -2.588141089532537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            725.8614920253298,
+            -31.164171233166925,
+            -2.588141089532537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            728.8614920253298,
+            -31.164171233166925,
+            -2.588141089532537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            731.8614920253298,
+            -31.164171233166925,
+            -2.588141089532537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            734.8614920253298,
+            -31.164171233166925,
+            -2.588141089532537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            737.8614920253298,
+            -31.164171233166925,
+            -2.588141089532537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            740.8614920253298,
+            -31.164171233166925,
+            -2.588141089532537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            743.8614920253298,
+            -31.164171233166925,
+            -2.588141089532537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            746.8614920253298,
+            -31.164171233166925,
+            -2.588141089532537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            749.8614920253298,
+            -31.164171233166925,
+            -2.588141089532537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            752.8614920253298,
+            -31.164171233166925,
+            -2.588141089532537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            755.8614920253298,
+            -31.164171233166925,
+            -2.588141089532537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            758.8614920253298,
+            -31.164171233166925,
+            -2.588141089532537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            761.8614920253298,
+            -31.164171233166925,
+            -2.588141089532537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            764.8614920253298,
+            -31.164171233166925,
+            -2.588141089532537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            767.8614920253298,
+            -31.164171233166925,
+            -2.588141089532537
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            767.8614920253298,
+            -31.164171233166925,
+            -2.588141089532537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            770.459568236683,
+            -29.664171233166925,
+            -2.588141089532537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            773.0576444480364,
+            -28.164171233166925,
+            -2.588141089532537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            775.6557206593898,
+            -26.664171233166925,
+            -2.588141089532537
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            775.6557206593898,
+            -26.664171233166925,
+            -2.588141089532537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            777.1557206593898,
+            -24.06609502181361,
+            -2.588141089532537
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            778.6557206593898,
+            -21.468018810460293,
+            -2.588141089532537
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            785.4496536254883,
+            -18.975487995147706,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-44-15_978128825/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-44-15_978128825/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8d286fa2b339cb50e4b98e3f5ac03e70499b842e
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-44-15_978128825/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            534.7740062789144,
+            340.03185679315385,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            533.2740062789144,
+            337.43378058180053,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            531.7740062789144,
+            334.8357043704472,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            530.2740062789144,
+            332.2376281590939,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            528.7740062789144,
+            329.6395519477406,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            527.2740062789144,
+            327.04147573638727,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            525.7740062789144,
+            324.44339952503395,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            524.2740062789144,
+            321.84532331368064,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            522.7740062789144,
+            319.2472471023273,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            521.2740062789144,
+            316.649170890974,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            519.7740062789144,
+            314.0510946796207,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            518.2740062789144,
+            311.4530184682674,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            516.7740062789144,
+            308.85494225691406,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            515.2740062789144,
+            306.25686604556074,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            513.7740062789144,
+            303.6587898342074,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            512.2740062789144,
+            301.0607136228541,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            510.7740062789144,
+            298.4626374115008,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            509.2740062789144,
+            295.8645612001475,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            507.7740062789144,
+            293.26648498879416,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            506.2740062789144,
+            290.66840877744085,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            504.7740062789144,
+            288.07033256608753,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            503.2740062789144,
+            285.4722563547342,
+            -4.678574026265596
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            503.2740062789144,
+            285.4722563547342,
+            -4.678574026265596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            500.67593006756107,
+            283.9722563547342,
+            -4.678574026265596
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            498.19472236633305,
+            281.0884632110596,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-50-4_787660056/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-50-4_787660056/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d8cff2f859dd85845d3ad021939d213d18a5b197
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-50-4_787660056/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            744.3597655135596,
+            -83.93934066244861,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            744.3597655135596,
+            -80.93934066244861,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            744.3597655135596,
+            -77.93934066244861,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            744.3597655135596,
+            -74.93934066244861,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            744.3597655135596,
+            -71.93934066244861,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            744.3597655135596,
+            -68.93934066244861,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            744.3597655135596,
+            -65.93934066244861,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            744.3597655135596,
+            -62.939340662448615,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            744.3597655135596,
+            -59.939340662448615,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            744.3597655135596,
+            -56.939340662448615,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            744.3597655135596,
+            -53.939340662448615,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            744.3597655135596,
+            -50.939340662448615,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            744.3597655135596,
+            -47.939340662448615,
+            -6.193712585613077
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            744.3597655135596,
+            -47.939340662448615,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            742.8597655135596,
+            -45.3412644510953,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            741.3597655135596,
+            -42.74318823974198,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            739.8597655135596,
+            -40.14511202838867,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            738.3597655135596,
+            -37.54703581703535,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            736.8597655135596,
+            -34.948959605682035,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            735.3597655135596,
+            -32.35088339432872,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            733.8597655135596,
+            -29.752807182975403,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            732.3597655135596,
+            -27.154730971622087,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            730.8597655135596,
+            -24.55665476026877,
+            -6.193712585613077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            729.3597655135596,
+            -21.958578548915455,
+            -6.193712585613077
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            727.4186401367188,
+            -18.7204083442688,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-54-26_218248263/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-54-26_218248263/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1935639e558bad9a5c5c0a11c8e76d0ad79b406d
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-54-26_218248263/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            219.73712582771287,
+            -479.9741581459814,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            222.73712582771287,
+            -479.9741581459814,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            225.73712582771287,
+            -479.9741581459814,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            228.73712582771287,
+            -479.9741581459814,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            231.73712582771287,
+            -479.9741581459814,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            234.73712582771287,
+            -479.9741581459814,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            237.73712582771287,
+            -479.9741581459814,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            240.73712582771287,
+            -479.9741581459814,
+            -4.091833850600207
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            240.73712582771287,
+            -479.9741581459814,
+            -4.091833850600207
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            240.73712582771287,
+            -479.9741581459814,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            242.23712582771287,
+            -482.5722343573347,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            243.73712582771287,
+            -485.170310568688,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            245.23712582771287,
+            -487.76838678004134,
+            -4.091833850600207
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            245.23712582771287,
+            -487.76838678004134,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            247.8352020390662,
+            -489.26838678004134,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            250.4332782504195,
+            -490.76838678004134,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            253.03135446177282,
+            -492.26838678004134,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            255.62943067312614,
+            -493.76838678004134,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            258.22750688447945,
+            -495.26838678004134,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            260.82558309583277,
+            -496.76838678004134,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            263.4236593071861,
+            -498.26838678004134,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            266.0217355185394,
+            -499.76838678004134,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            268.6198117298927,
+            -501.26838678004134,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            271.21788794124603,
+            -502.76838678004134,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            273.81596415259935,
+            -504.26838678004134,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            276.41404036395267,
+            -505.76838678004134,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            279.012116575306,
+            -507.26838678004134,
+            -4.091833850600207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            281.6101927866593,
+            -508.76838678004134,
+            -4.091833850600207
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            283.3368732452393,
+            -507.865353012085,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-57-16_442357055/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-57-16_442357055/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e8dbbeb5bed73c025b116a4ee022afa2aa4fe47b
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-57-16_442357055/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1329.883619635757,
+            282.08984140424377,
+            -0.9034516984382517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1327.2855434244036,
+            280.58984140424377,
+            -0.9034516984382517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1324.6874672130502,
+            279.08984140424377,
+            -0.9034516984382517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1322.0893910016969,
+            277.58984140424377,
+            -0.9034516984382517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1319.4913147903435,
+            276.08984140424377,
+            -0.9034516984382517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1316.8932385789901,
+            274.58984140424377,
+            -0.9034516984382517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1314.2951623676367,
+            273.08984140424377,
+            -0.9034516984382517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1311.6970861562834,
+            271.58984140424377,
+            -0.9034516984382517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1309.09900994493,
+            270.08984140424377,
+            -0.9034516984382517
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1309.09900994493,
+            270.08984140424377,
+            -0.9034516984382517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1307.59900994493,
+            267.49176519289045,
+            -0.9034516984382517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1306.09900994493,
+            264.89368898153714,
+            -0.9034516984382517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1304.59900994493,
+            262.2956127701838,
+            -0.9034516984382517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1303.09900994493,
+            259.6975365588305,
+            -0.9034516984382517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1301.59900994493,
+            257.0994603474772,
+            -0.9034516984382517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1300.09900994493,
+            254.50138413612387,
+            -0.9034516984382517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1298.59900994493,
+            251.90330792477056,
+            -0.9034516984382517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1297.09900994493,
+            249.30523171341724,
+            -0.9034516984382517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1295.59900994493,
+            246.70715550206393,
+            -0.9034516984382517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1294.09900994493,
+            244.1090792907106,
+            -0.9034516984382517
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1292.3825042724611,
+            243.1778787612915,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-18-11_822304435/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-18-11_822304435/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..aea37c44d8988cca6e5b598c74b57da23cf3674b
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-18-11_822304435/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            89.90698708136273,
+            102.65588693227531,
+            -6.651333113311171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            88.40698708136273,
+            105.25396314362862,
+            -6.651333113311171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            86.90698708136273,
+            107.85203935498194,
+            -6.651333113311171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            85.40698708136273,
+            110.45011556633526,
+            -6.651333113311171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            83.90698708136273,
+            113.04819177768857,
+            -6.651333113311171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            82.40698708136273,
+            115.64626798904189,
+            -6.651333113311171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            80.90698708136273,
+            118.2443442003952,
+            -6.651333113311171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            79.40698708136273,
+            120.84242041174852,
+            -6.651333113311171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            77.90698708136273,
+            123.44049662310184,
+            -6.651333113311171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            76.40698708136273,
+            126.03857283445515,
+            -6.651333113311171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            74.90698708136273,
+            128.63664904580847,
+            -6.651333113311171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            73.40698708136273,
+            131.23472525716178,
+            -6.651333113311171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            71.90698708136273,
+            133.8328014685151,
+            -6.651333113311171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            70.40698708136273,
+            136.43087767986842,
+            -6.651333113311171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            68.90698708136273,
+            139.02895389122173,
+            -6.651333113311171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            67.40698708136273,
+            141.62703010257505,
+            -6.651333113311171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            65.90698708136273,
+            144.22510631392836,
+            -6.651333113311171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            64.40698708136273,
+            146.82318252528168,
+            -6.651333113311171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            62.90698708136273,
+            149.421258736635,
+            -6.651333113311171
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            61.40698708136273,
+            152.0193349479883,
+            -6.651333113311171
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            59.49086513519288,
+            153.78228397369386,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-19-16_1820432110/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-19-16_1820432110/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..997542177e741a64f9a4b454a04136a103183de0
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-19-16_1820432110/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            138.46161045690124,
+            220.3382015892804,
+            -3.1812073745338596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            136.96161045690124,
+            217.7401253779271,
+            -3.1812073745338596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            135.46161045690124,
+            215.14204916657377,
+            -3.1812073745338596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            133.96161045690124,
+            212.54397295522045,
+            -3.1812073745338596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            132.46161045690124,
+            209.94589674386714,
+            -3.1812073745338596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            130.96161045690124,
+            207.34782053251382,
+            -3.1812073745338596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            129.46161045690124,
+            204.7497443211605,
+            -3.1812073745338596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            127.96161045690124,
+            202.1516681098072,
+            -3.1812073745338596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            126.46161045690124,
+            199.55359189845387,
+            -3.1812073745338596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            124.96161045690124,
+            196.95551568710056,
+            -3.1812073745338596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            123.46161045690124,
+            194.35743947574724,
+            -3.1812073745338596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            121.96161045690124,
+            191.75936326439393,
+            -3.1812073745338596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            120.46161045690124,
+            189.1612870530406,
+            -3.1812073745338596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            118.96161045690124,
+            186.5632108416873,
+            -3.1812073745338596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            117.46161045690124,
+            183.96513463033398,
+            -3.1812073745338596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            115.96161045690124,
+            181.36705841898066,
+            -3.1812073745338596
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            115.96161045690124,
+            181.36705841898066,
+            -3.1812073745338596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            113.36353424554792,
+            179.86705841898066,
+            -3.1812073745338596
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            110.76545803419461,
+            178.36705841898066,
+            -3.1812073745338596
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            108.78504695892335,
+            175.8657693862915,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-27-41_582187500/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-27-41_582187500/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2a7d3a02e231bfbec70b008c604a28c6564e2ae5
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-27-41_582187500/pose.jsonl
@@ -0,0 +1,92 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1077.212323926441,
+            -290.48358436852504,
+            -1.6709245295844184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1077.212323926441,
+            -287.48358436852504,
+            -1.6709245295844184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1077.212323926441,
+            -284.48358436852504,
+            -1.6709245295844184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1077.212323926441,
+            -281.48358436852504,
+            -1.6709245295844184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1077.212323926441,
+            -278.48358436852504,
+            -1.6709245295844184
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1077.212323926441,
+            -275.48358436852504,
+            -1.6709245295844184
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1078.2823501586915,
+            -224.4462232589722,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-30-23_959171794/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-30-23_959171794/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b1524135c976e187795179ee907b29597ec7dc70
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-30-23_959171794/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            85.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            82.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            79.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            76.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            73.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            70.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            67.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            64.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            61.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            58.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            55.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            52.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            49.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            46.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            43.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            40.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            37.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            34.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            31.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            28.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            28.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            28.46832465989884,
+            -90.46524257512573,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            26.96832465989884,
+            -87.86716636377241,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            25.46832465989884,
+            -85.2690901524191,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            23.96832465989884,
+            -82.67101394106578,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            22.46832465989884,
+            -80.07293772971246,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            20.96832465989884,
+            -77.47486151835915,
+            -7.888849949321555
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            19.46832465989884,
+            -74.87678530700583,
+            -7.888849949321555
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            17.12450046539307,
+            -73.06071357727052,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-39-9_366913064/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-39-9_366913064/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8e3fff9eb246038a557c8bac17451b4fc7ecd4e9
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-39-9_366913064/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            956.4933463787419,
+            -205.90140566761661,
+            -3.0441556577947093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            954.9933463787419,
+            -208.49948187896993,
+            -3.0441556577947093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            953.4933463787419,
+            -211.09755809032325,
+            -3.0441556577947093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            951.9933463787419,
+            -213.69563430167656,
+            -3.0441556577947093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            950.4933463787419,
+            -216.29371051302988,
+            -3.0441556577947093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            948.9933463787419,
+            -218.8917867243832,
+            -3.0441556577947093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            947.4933463787419,
+            -221.4898629357365,
+            -3.0441556577947093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            945.9933463787419,
+            -224.08793914708983,
+            -3.0441556577947093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            944.4933463787419,
+            -226.68601535844314,
+            -3.0441556577947093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            942.9933463787419,
+            -229.28409156979646,
+            -3.0441556577947093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            941.4933463787419,
+            -231.88216778114978,
+            -3.0441556577947093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            939.9933463787419,
+            -234.4802439925031,
+            -3.0441556577947093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            938.4933463787419,
+            -237.0783202038564,
+            -3.0441556577947093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            936.9933463787419,
+            -239.67639641520972,
+            -3.0441556577947093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            935.4933463787419,
+            -242.27447262656304,
+            -3.0441556577947093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            933.9933463787419,
+            -244.87254883791636,
+            -3.0441556577947093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            932.4933463787419,
+            -247.47062504926967,
+            -3.0441556577947093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            930.9933463787419,
+            -250.068701260623,
+            -3.0441556577947093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            929.4933463787419,
+            -252.6667774719763,
+            -3.0441556577947093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            927.9933463787419,
+            -255.26485368332962,
+            -3.0441556577947093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            926.4933463787419,
+            -257.8629298946829,
+            -3.0441556577947093
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            919.2332725524903,
+            -271.52674827575686,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-47-34_19063328/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-47-34_19063328/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5cd1a74686986e3c87fae8c686e36a9b00b406e9
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-47-34_19063328/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            472.6096335438283,
+            -440.6462116490562,
+            -6.416310121077254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            470.011557332475,
+            -439.1462116490562,
+            -6.416310121077254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            467.41348112112166,
+            -437.6462116490562,
+            -6.416310121077254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            464.81540490976835,
+            -436.1462116490562,
+            -6.416310121077254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            462.21732869841503,
+            -434.6462116490562,
+            -6.416310121077254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            459.6192524870617,
+            -433.1462116490562,
+            -6.416310121077254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            457.0211762757084,
+            -431.6462116490562,
+            -6.416310121077254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            454.4231000643551,
+            -430.1462116490562,
+            -6.416310121077254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            451.82502385300177,
+            -428.6462116490562,
+            -6.416310121077254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            449.22694764164845,
+            -427.1462116490562,
+            -6.416310121077254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            446.62887143029513,
+            -425.6462116490562,
+            -6.416310121077254
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            446.62887143029513,
+            -425.6462116490562,
+            -6.416310121077254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            443.62887143029513,
+            -425.6462116490562,
+            -6.416310121077254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            440.62887143029513,
+            -425.6462116490562,
+            -6.416310121077254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            437.62887143029513,
+            -425.6462116490562,
+            -6.416310121077254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            434.62887143029513,
+            -425.6462116490562,
+            -6.416310121077254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            431.62887143029513,
+            -425.6462116490562,
+            -6.416310121077254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            428.62887143029513,
+            -425.6462116490562,
+            -6.416310121077254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            425.62887143029513,
+            -425.6462116490562,
+            -6.416310121077254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            422.62887143029513,
+            -425.6462116490562,
+            -6.416310121077254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            419.62887143029513,
+            -425.6462116490562,
+            -6.416310121077254
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            416.62887143029513,
+            -425.6462116490562,
+            -6.416310121077254
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            410.6194187164307,
+            -422.415909576416,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-54-43_400660703/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-54-43_400660703/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..22a83e5b525243076af245989be5074d045e479d
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-54-43_400660703/pose.jsonl
@@ -0,0 +1,222 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            943.5236936457588,
+            -302.9012038556608,
+            -0.33758089380332734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            940.9256174344055,
+            -301.4012038556608,
+            -0.33758089380332734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            938.3275412230521,
+            -299.9012038556608,
+            -0.33758089380332734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            935.7294650116987,
+            -298.4012038556608,
+            -0.33758089380332734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            933.1313888003453,
+            -296.9012038556608,
+            -0.33758089380332734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            930.533312588992,
+            -295.4012038556608,
+            -0.33758089380332734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            927.9352363776386,
+            -293.9012038556608,
+            -0.33758089380332734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            925.3371601662852,
+            -292.4012038556608,
+            -0.33758089380332734
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            925.3371601662852,
+            -292.4012038556608,
+            -0.33758089380332734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            922.3371601662852,
+            -292.4012038556608,
+            -0.33758089380332734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            919.3371601662852,
+            -292.4012038556608,
+            -0.33758089380332734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            916.3371601662852,
+            -292.4012038556608,
+            -0.33758089380332734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            913.3371601662852,
+            -292.4012038556608,
+            -0.33758089380332734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            910.3371601662852,
+            -292.4012038556608,
+            -0.33758089380332734
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            910.3371601662852,
+            -292.4012038556608,
+            -0.33758089380332734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            907.7390839549319,
+            -290.9012038556608,
+            -0.33758089380332734
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            871.2010513305664,
+            -278.09218101501466,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-6-14_121248617/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-6-14_121248617/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ec332968590c9c8d44d47e4902ca166815097e48
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-6-14_121248617/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -145.09889484932063,
+            -347.72687285704023,
+            -1.4071248523089928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -143.59889484932063,
+            -345.1287966456869,
+            -1.4071248523089928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -142.09889484932063,
+            -342.5307204343336,
+            -1.4071248523089928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -140.59889484932063,
+            -339.9326442229803,
+            -1.4071248523089928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -139.09889484932063,
+            -337.33456801162697,
+            -1.4071248523089928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -137.59889484932063,
+            -334.73649180027365,
+            -1.4071248523089928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -136.09889484932063,
+            -332.13841558892034,
+            -1.4071248523089928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -134.59889484932063,
+            -329.540339377567,
+            -1.4071248523089928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -133.09889484932063,
+            -326.9422631662137,
+            -1.4071248523089928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -131.59889484932063,
+            -324.3441869548604,
+            -1.4071248523089928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -130.09889484932063,
+            -321.7461107435071,
+            -1.4071248523089928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -128.59889484932063,
+            -319.14803453215376,
+            -1.4071248523089928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -127.09889484932063,
+            -316.54995832080044,
+            -1.4071248523089928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -125.59889484932063,
+            -313.9518821094471,
+            -1.4071248523089928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -124.09889484932063,
+            -311.3538058980938,
+            -1.4071248523089928
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -124.09889484932063,
+            -311.3538058980938,
+            -1.4071248523089928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -124.09889484932063,
+            -308.3538058980938,
+            -1.4071248523089928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -124.09889484932063,
+            -305.3538058980938,
+            -1.4071248523089928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -124.09889484932063,
+            -302.3538058980938,
+            -1.4071248523089928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -124.09889484932063,
+            -299.3538058980938,
+            -1.4071248523089928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -124.09889484932063,
+            -296.3538058980938,
+            -1.4071248523089928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -124.09889484932063,
+            -293.3538058980938,
+            -1.4071248523089928
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -124.09889484932063,
+            -290.3538058980938,
+            -1.4071248523089928
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -122.89827556610108,
+            -288.4065223693848,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-4-16_660343702/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-4-16_660343702/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b830adf13a70a62a1df76778cb739ccf2e4bb4ae
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-4-16_660343702/pose.jsonl
@@ -0,0 +1,261 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            17.229167968243534,
+            -43.99749434665601,
+            -4.91313184235033
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            18.729167968243534,
+            -41.399418135302696,
+            -4.91313184235033
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            20.229167968243534,
+            -38.80134192394938,
+            -4.91313184235033
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            21.729167968243534,
+            -36.203265712596064,
+            -4.91313184235033
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            23.229167968243534,
+            -33.60518950124275,
+            -4.91313184235033
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            24.729167968243534,
+            -31.007113289889432,
+            -4.91313184235033
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            26.229167968243534,
+            -28.409037078536116,
+            -4.91313184235033
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            27.729167968243534,
+            -25.8109608671828,
+            -4.91313184235033
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            29.229167968243534,
+            -23.212884655829484,
+            -4.91313184235033
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            29.229167968243534,
+            -23.212884655829484,
+            -4.91313184235033
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            29.229167968243534,
+            -20.212884655829484,
+            -4.91313184235033
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            29.229167968243534,
+            -17.212884655829484,
+            -4.91313184235033
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            29.229167968243534,
+            -14.212884655829484,
+            -4.91313184235033
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            29.229167968243534,
+            -11.212884655829484,
+            -4.91313184235033
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            29.229167968243534,
+            -8.212884655829484,
+            -4.91313184235033
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            29.229167968243534,
+            -5.212884655829484,
+            -4.91313184235033
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            29.229167968243534,
+            -2.212884655829484,
+            -4.91313184235033
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            29.229167968243534,
+            0.7871153441705161,
+            -4.91313184235033
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            29.229167968243534,
+            3.787115344170516,
+            -4.91313184235033
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            31.950906944274905,
+            5.022578048706055,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-4-4_777134495/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-4-4_777134495/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dca7aa3f97df4157b4173341f80c7c496f00fc89
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-4-4_777134495/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            402.8925076697905,
+            -490.18229864553496,
+            -4.497309385016177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            402.8925076697905,
+            -487.18229864553496,
+            -4.497309385016177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            402.8925076697905,
+            -484.18229864553496,
+            -4.497309385016177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            402.8925076697905,
+            -481.18229864553496,
+            -4.497309385016177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            402.8925076697905,
+            -478.18229864553496,
+            -4.497309385016177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            402.8925076697905,
+            -475.18229864553496,
+            -4.497309385016177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            402.8925076697905,
+            -472.18229864553496,
+            -4.497309385016177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            402.8925076697905,
+            -469.18229864553496,
+            -4.497309385016177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            402.8925076697905,
+            -466.18229864553496,
+            -4.497309385016177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            402.8925076697905,
+            -463.18229864553496,
+            -4.497309385016177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            402.8925076697905,
+            -460.18229864553496,
+            -4.497309385016177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            402.8925076697905,
+            -457.18229864553496,
+            -4.497309385016177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            402.8925076697905,
+            -454.18229864553496,
+            -4.497309385016177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            402.8925076697905,
+            -451.18229864553496,
+            -4.497309385016177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            402.8925076697905,
+            -448.18229864553496,
+            -4.497309385016177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            402.8925076697905,
+            -445.18229864553496,
+            -4.497309385016177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            402.8925076697905,
+            -442.18229864553496,
+            -4.497309385016177
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            402.8925076697905,
+            -442.18229864553496,
+            -4.497309385016177
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            402.8925076697905,
+            -442.18229864553496,
+            -4.497309385016177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            405.49058388114383,
+            -440.68229864553496,
+            -4.497309385016177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            408.08866009249715,
+            -439.18229864553496,
+            -4.497309385016177
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            410.6194187164307,
+            -422.415909576416,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-42-27_2024516898/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-42-27_2024516898/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..12acfed33b8b724f3e4efaee3bd57c7ba4033669
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-42-27_2024516898/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            138.6503801833304,
+            -652.8037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            136.0523039719771,
+            -654.3037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            133.45422776062378,
+            -655.8037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            130.85615154927046,
+            -657.3037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            128.25807533791715,
+            -658.8037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            125.65999912656383,
+            -660.3037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            123.06192291521052,
+            -661.8037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            120.4638467038572,
+            -663.3037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            117.86577049250388,
+            -664.8037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            115.26769428115057,
+            -666.3037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            112.66961806979725,
+            -667.8037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            110.07154185844394,
+            -669.3037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            107.47346564709062,
+            -670.8037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            104.8753894357373,
+            -672.3037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            102.27731322438399,
+            -673.8037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            99.67923701303067,
+            -675.3037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            97.08116080167736,
+            -676.8037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            94.48308459032404,
+            -678.3037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            91.88500837897072,
+            -679.8037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            89.28693216761741,
+            -681.3037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            86.68885595626409,
+            -682.8037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            84.09077974491078,
+            -684.3037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            81.49270353355746,
+            -685.8037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            78.89462732220414,
+            -687.3037130816388,
+            -9.972677721095824
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            78.89462732220414,
+            -687.3037130816388,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            77.39462732220414,
+            -689.9017892929921,
+            -9.972677721095824
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            75.89462732220414,
+            -692.4998655043455,
+            -9.972677721095824
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            75.18217315673829,
+            -694.5978416442872,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-58-8_1694860591/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-58-8_1694860591/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4d90fc62c0ffea0d906b9f06daf9c051043a7f80
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-58-8_1694860591/pose.jsonl
@@ -0,0 +1,79 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            836.6069735137518,
+            14.58485234885256,
+            -2.9866326720427683
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            834.0088973023985,
+            13.08485234885256,
+            -2.9866326720427683
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            831.4108210910451,
+            11.58485234885256,
+            -2.9866326720427683
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            828.8127448796918,
+            10.08485234885256,
+            -2.9866326720427683
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            826.2146686683384,
+            8.58485234885256,
+            -2.9866326720427683
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            785.4496536254883,
+            -18.975487995147706,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-1-44_1239547247/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-1-44_1239547247/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3dedfd6ae8f105a6c74bb5eb001f33665398a003
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-1-44_1239547247/pose.jsonl
@@ -0,0 +1,144 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            978.3724844816113,
+            -321.8042751962182,
+            -3.4015414142630114
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            978.3724844816113,
+            -324.8042751962182,
+            -3.4015414142630114
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            978.3724844816113,
+            -327.8042751962182,
+            -3.4015414142630114
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            978.3724844816113,
+            -330.8042751962182,
+            -3.4015414142630114
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            978.3724844816113,
+            -333.8042751962182,
+            -3.4015414142630114
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            978.3724844816113,
+            -336.8042751962182,
+            -3.4015414142630114
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            978.3724844816113,
+            -339.8042751962182,
+            -3.4015414142630114
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            978.3724844816113,
+            -339.8042751962182,
+            -3.4015414142630114
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            976.8724844816113,
+            -342.40235140757153,
+            -3.4015414142630114
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            975.3724844816113,
+            -345.00042761892485,
+            -3.4015414142630114
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            971.7509979248048,
+            -378.1575077056885,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-13-42_54350259/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-13-42_54350259/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4d785d39d16b76428cf49609c0044b61351db5c3
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-13-42_54350259/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -60.218954940132846,
+            -420.5430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -62.81703115148616,
+            -419.0430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -65.41510736283948,
+            -417.5430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -68.0131835741928,
+            -416.0430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -70.61125978554611,
+            -414.5430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -73.20933599689943,
+            -413.0430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -75.80741220825274,
+            -411.5430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -78.40548841960606,
+            -410.0430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -81.00356463095937,
+            -408.5430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -83.60164084231269,
+            -407.0430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -86.199717053666,
+            -405.5430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -88.79779326501932,
+            -404.0430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -91.39586947637264,
+            -402.5430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -93.99394568772595,
+            -401.0430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -96.59202189907927,
+            -399.5430252391326,
+            -5.40323987171182
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -96.59202189907927,
+            -399.5430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -99.59202189907927,
+            -399.5430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -102.59202189907927,
+            -399.5430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -105.59202189907927,
+            -399.5430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -108.59202189907927,
+            -399.5430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -111.59202189907927,
+            -399.5430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -114.59202189907927,
+            -399.5430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -117.59202189907927,
+            -399.5430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -120.59202189907927,
+            -399.5430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -123.59202189907927,
+            -399.5430252391326,
+            -5.40323987171182
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -126.59202189907927,
+            -399.5430252391326,
+            -5.40323987171182
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -129.16454372406008,
+            -397.39995117187505,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-2-6_1424771149/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-2-6_1424771149/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..119357f852b182f16cc1af402821aa6098a8d691
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-2-6_1424771149/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1346.8101890393427,
+            -256.2533940892911,
+            -2.619861510546878
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1348.3101890393427,
+            -253.65531787793776,
+            -2.619861510546878
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1349.8101890393427,
+            -251.05724166658445,
+            -2.619861510546878
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1351.3101890393427,
+            -248.45916545523113,
+            -2.619861510546878
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1352.8101890393427,
+            -245.8610892438778,
+            -2.619861510546878
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1354.3101890393427,
+            -243.2630130325245,
+            -2.619861510546878
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1355.8101890393427,
+            -240.66493682117118,
+            -2.619861510546878
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1357.3101890393427,
+            -238.06686060981787,
+            -2.619861510546878
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1358.8101890393427,
+            -235.46878439846455,
+            -2.619861510546878
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1360.3101890393427,
+            -232.87070818711123,
+            -2.619861510546878
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1361.8101890393427,
+            -230.27263197575792,
+            -2.619861510546878
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1363.3101890393427,
+            -227.6745557644046,
+            -2.619861510546878
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1364.8101890393427,
+            -225.07647955305129,
+            -2.619861510546878
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1366.3101890393427,
+            -222.47840334169797,
+            -2.619861510546878
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1367.8101890393427,
+            -219.88032713034465,
+            -2.619861510546878
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1369.3101890393427,
+            -217.28225091899134,
+            -2.619861510546878
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1370.8101890393427,
+            -214.68417470763802,
+            -2.619861510546878
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1372.3101890393427,
+            -212.0860984962847,
+            -2.619861510546878
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1373.8101890393427,
+            -209.4880222849314,
+            -2.619861510546878
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1373.8101890393427,
+            -209.4880222849314,
+            -2.619861510546878
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1373.8101890393427,
+            -206.4880222849314,
+            -2.619861510546878
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1373.8101890393427,
+            -203.4880222849314,
+            -2.619861510546878
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1373.8101890393427,
+            -200.4880222849314,
+            -2.619861510546878
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1374.3149368286133,
+            -198.07321910858155,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-26-42_219147069/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-26-42_219147069/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b0d248bac86b0f69f6ff769472f426b39296f1ff
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-26-42_219147069/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1281.7971518269173,
+            126.7493561471368,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965954
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1283.2971518269173,
+            129.3474323584901,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965954
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1284.7971518269173,
+            131.9455085698434,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1286.2971518269173,
+            134.54358478119673,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1287.7971518269173,
+            137.14166099255004,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1289.2971518269173,
+            139.73973720390336,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1290.7971518269173,
+            142.33781341525668,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1292.2971518269173,
+            144.93588962661,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1293.7971518269173,
+            147.5339658379633,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1295.2971518269173,
+            150.13204204931662,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1296.7971518269173,
+            152.73011826066994,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1298.2971518269173,
+            155.32819447202326,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1299.7971518269173,
+            157.92627068337657,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1301.2971518269173,
+            160.5243468947299,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1302.7971518269173,
+            163.1224231060832,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1304.2971518269173,
+            165.72049931743652,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1305.7971518269173,
+            168.31857552878984,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1307.2971518269173,
+            170.91665174014315,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1308.7971518269173,
+            173.51472795149647,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1310.2971518269173,
+            176.11280416284978,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1311.7971518269173,
+            178.7108803742031,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1313.2971518269173,
+            181.30895658555642,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1314.7971518269173,
+            183.90703279690973,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1316.2971518269173,
+            186.50510900826305,
+            -0.5975066245326328
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1316.2971518269173,
+            186.50510900826305,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1316.2971518269173,
+            189.50510900826305,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1316.2971518269173,
+            192.50510900826305,
+            -0.5975066245326328
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1316.2971518269173,
+            195.50510900826305,
+            -0.5975066245326328
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1318.4154022216799,
+            197.2680404663086,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-29-48_1975402908/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-29-48_1975402908/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e6f8a21d1f9f1eaa6589fcc76919b68cc2deeac6
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-29-48_1975402908/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1358.7859001284553,
+            258.1395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1355.7859001284553,
+            258.1395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1352.7859001284553,
+            258.1395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1349.7859001284553,
+            258.1395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1346.7859001284553,
+            258.1395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1343.7859001284553,
+            258.1395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1340.7859001284553,
+            258.1395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1337.7859001284553,
+            258.1395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1334.7859001284553,
+            258.1395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1331.7859001284553,
+            258.1395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1328.7859001284553,
+            258.1395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1325.7859001284553,
+            258.1395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1322.7859001284553,
+            258.1395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1319.7859001284553,
+            258.1395167321644,
+            -1.0669949474089684
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1319.7859001284553,
+            258.1395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1317.187823917102,
+            256.6395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1314.5897477057486,
+            255.1395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1311.9916714943952,
+            253.6395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1309.3935952830418,
+            252.1395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1306.7955190716884,
+            250.6395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1304.197442860335,
+            249.1395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1301.5993666489817,
+            247.6395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1299.0012904376283,
+            246.1395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1296.403214226275,
+            244.6395167321644,
+            -1.0669949474089684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1293.8051380149216,
+            243.1395167321644,
+            -1.0669949474089684
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1292.3825042724611,
+            243.1778787612915,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-32-48_1743768897/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-32-48_1743768897/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..de2e649c6ac2bcea8cbd8e5abd03fcd4b4af1b7a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-32-48_1743768897/pose.jsonl
@@ -0,0 +1,404 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -403.08777333371535,
+            -126.7340923172562,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -400.08777333371535,
+            -126.7340923172562,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -397.08777333371535,
+            -126.7340923172562,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -394.08777333371535,
+            -126.7340923172562,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -391.08777333371535,
+            -126.7340923172562,
+            -2.3776685126116863
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -391.08777333371535,
+            -126.7340923172562,
+            -2.3776685126116863
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -391.08777333371535,
+            -126.7340923172562,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -389.58777333371535,
+            -124.13601610590288,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -388.08777333371535,
+            -121.53793989454957,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -386.58777333371535,
+            -118.93986368319625,
+            -2.3776685126116863
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -386.58777333371535,
+            -118.93986368319625,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -383.98969712236203,
+            -117.43986368319625,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -381.3916209110087,
+            -115.93986368319625,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -378.7935446996554,
+            -114.43986368319625,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -376.1954684883021,
+            -112.93986368319625,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -373.59739227694877,
+            -111.43986368319625,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -370.99931606559545,
+            -109.93986368319625,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -368.40123985424214,
+            -108.43986368319625,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -365.8031636428888,
+            -106.93986368319625,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -363.2050874315355,
+            -105.43986368319625,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -360.6070112201822,
+            -103.93986368319625,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -358.00893500882887,
+            -102.43986368319625,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -355.41085879747556,
+            -100.93986368319625,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -352.81278258612224,
+            -99.43986368319625,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -350.2147063747689,
+            -97.93986368319625,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -347.6166301634156,
+            -96.43986368319625,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -345.0185539520623,
+            -94.93986368319625,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -342.420477740709,
+            -93.43986368319625,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -339.82240152935566,
+            -91.93986368319625,
+            -2.3776685126116863
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -337.22432531800234,
+            -90.43986368319625,
+            -2.3776685126116863
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -335.7922431945801,
+            -91.63226652145386,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-35-50_1498119944/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-35-50_1498119944/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4c9bc53f5da9fd0f93d1818b4a3a69e78cd9ec22
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-35-50_1498119944/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            455.81802483703206,
+            -633.3100104988825,
+            -3.008663303742072
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            454.31802483703206,
+            -630.7119342875292,
+            -3.008663303742072
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            452.81802483703206,
+            -628.1138580761758,
+            -3.008663303742072
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            451.31802483703206,
+            -625.5157818648224,
+            -3.008663303742072
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            449.81802483703206,
+            -622.917705653469,
+            -3.008663303742072
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            448.31802483703206,
+            -620.3196294421157,
+            -3.008663303742072
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            446.81802483703206,
+            -617.7215532307623,
+            -3.008663303742072
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            445.31802483703206,
+            -615.1234770194089,
+            -3.008663303742072
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            443.81802483703206,
+            -612.5254008080556,
+            -3.008663303742072
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            442.31802483703206,
+            -609.9273245967022,
+            -3.008663303742072
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            440.81802483703206,
+            -607.3292483853488,
+            -3.008663303742072
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            440.81802483703206,
+            -607.3292483853488,
+            -3.008663303742072
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            440.81802483703206,
+            -604.3292483853488,
+            -3.008663303742072
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            440.81802483703206,
+            -601.3292483853488,
+            -3.008663303742072
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            440.81802483703206,
+            -598.3292483853488,
+            -3.008663303742072
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            440.81802483703206,
+            -595.3292483853488,
+            -3.008663303742072
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            440.81802483703206,
+            -592.3292483853488,
+            -3.008663303742072
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            440.81802483703206,
+            -589.3292483853488,
+            -3.008663303742072
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            440.81802483703206,
+            -586.3292483853488,
+            -3.008663303742072
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            440.81802483703206,
+            -583.3292483853488,
+            -3.008663303742072
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            440.81802483703206,
+            -580.3292483853488,
+            -3.008663303742072
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            437.9839408874512,
+            -578.2894577026368,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-49-17_181010038/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-49-17_181010038/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8a36e7f601e50878ca9f57190901e329c32642d8
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-49-17_181010038/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            708.4399212168403,
+            47.36884473975425,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            706.9399212168403,
+            44.770768528400936,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            705.4399212168403,
+            42.17269231704762,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            703.9399212168403,
+            39.574616105694304,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            702.4399212168403,
+            36.97653989434099,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            700.9399212168403,
+            34.37846368298767,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            699.4399212168403,
+            31.780387471634356,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            697.9399212168403,
+            29.18231126028104,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            696.4399212168403,
+            26.584235048927724,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            694.9399212168403,
+            23.986158837574408,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            693.4399212168403,
+            21.38808262622109,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            691.9399212168403,
+            18.790006414867776,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            690.4399212168403,
+            16.19193020351446,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            688.9399212168403,
+            13.593853992161144,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            687.4399212168403,
+            10.995777780807828,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            685.9399212168403,
+            8.397701569454512,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            684.4399212168403,
+            5.799625358101196,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            682.9399212168403,
+            3.2015491467478796,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            681.4399212168403,
+            0.6034729353945636,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            679.9399212168403,
+            -1.9946032759587524,
+            -0.27217186491572676
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            679.9399212168403,
+            -1.9946032759587524,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            677.3418450054869,
+            -3.4946032759587524,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            674.7437687941335,
+            -4.994603275958752,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            672.1456925827802,
+            -6.494603275958752,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            669.5476163714268,
+            -7.994603275958752,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            666.9495401600734,
+            -9.494603275958752,
+            -0.27217186491572676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            664.35146394872,
+            -10.994603275958752,
+            -0.27217186491572676
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            661.0575393676759,
+            -10.88031406402588,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-49-7_208591742/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-49-7_208591742/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..267cbca9a4981bf36a37cd1aea8271c549f45d81
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-49-7_208591742/pose.jsonl
@@ -0,0 +1,196 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            852.1149792985892,
+            49.39271907015466,
+            -8.731732867670832
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            849.516903087236,
+            50.89271907015466,
+            -8.731732867670832
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            846.9188268758826,
+            52.39271907015466,
+            -8.731732867670832
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            844.3207506645292,
+            53.89271907015466,
+            -8.731732867670832
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            841.7226744531758,
+            55.39271907015466,
+            -8.731732867670832
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            839.1245982418225,
+            56.89271907015466,
+            -8.731732867670832
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            836.5265220304691,
+            58.39271907015466,
+            -8.731732867670832
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            833.9284458191157,
+            59.89271907015466,
+            -8.731732867670832
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            831.3303696077623,
+            61.39271907015466,
+            -8.731732867670832
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            831.3303696077623,
+            61.39271907015466,
+            -8.731732867670832
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            829.8303696077623,
+            63.99079528150798,
+            -8.731732867670832
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            828.3303696077623,
+            66.5888714928613,
+            -8.731732867670832
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            826.8303696077623,
+            69.18694770421462,
+            -8.731732867670832
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            825.3303696077623,
+            71.78502391556793,
+            -8.731732867670832
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            793.9949005126954,
+            95.9690920829773,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-51-1_1179339467/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-51-1_1179339467/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c75f979cb19aad541ce2ea3fe7301ee2e4a061dc
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-51-1_1179339467/pose.jsonl
@@ -0,0 +1,170 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            823.7442786906265,
+            -246.90818125943258,
+            -9.293644843921088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            825.2442786906265,
+            -249.5062574707859,
+            -9.293644843921088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            826.7442786906265,
+            -252.1043336821392,
+            -9.293644843921088
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            826.7442786906265,
+            -252.1043336821392,
+            -9.293644843921088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            829.3423549019799,
+            -253.6043336821392,
+            -9.293644843921088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            831.9404311133333,
+            -255.1043336821392,
+            -9.293644843921088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            834.5385073246866,
+            -256.6043336821392,
+            -9.293644843921088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            837.13658353604,
+            -258.1043336821392,
+            -9.293644843921088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            839.7346597473934,
+            -259.6043336821392,
+            -9.293644843921088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            842.3327359587468,
+            -261.1043336821392,
+            -9.293644843921088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            844.9308121701001,
+            -262.6043336821392,
+            -9.293644843921088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            847.5288883814535,
+            -264.1043336821392,
+            -9.293644843921088
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            871.2010513305664,
+            -278.09218101501466,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-7-42_880944650/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-7-42_880944650/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ae9f9705baa5122e5808b7b2f0eae2be0f849184
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-7-42_880944650/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -211.6499746444784,
+            -222.2342214345252,
+            -6.312887114887975
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -211.6499746444784,
+            -219.2342214345252,
+            -6.312887114887975
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -211.6499746444784,
+            -216.2342214345252,
+            -6.312887114887975
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -211.6499746444784,
+            -213.2342214345252,
+            -6.312887114887975
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -211.6499746444784,
+            -210.2342214345252,
+            -6.312887114887975
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -211.6499746444784,
+            -207.2342214345252,
+            -6.312887114887975
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -211.6499746444784,
+            -204.2342214345252,
+            -6.312887114887975
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -211.6499746444784,
+            -201.2342214345252,
+            -6.312887114887975
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -211.6499746444784,
+            -198.2342214345252,
+            -6.312887114887975
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -211.6499746444784,
+            -195.2342214345252,
+            -6.312887114887975
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -211.6499746444784,
+            -192.2342214345252,
+            -6.312887114887975
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -211.6499746444784,
+            -189.2342214345252,
+            -6.312887114887975
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -211.6499746444784,
+            -186.2342214345252,
+            -6.312887114887975
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -211.6499746444784,
+            -183.2342214345252,
+            -6.312887114887975
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -211.6499746444784,
+            -180.2342214345252,
+            -6.312887114887975
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -211.6499746444784,
+            -177.2342214345252,
+            -6.312887114887975
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -211.6499746444784,
+            -177.2342214345252,
+            -6.312887114887975
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -210.1499746444784,
+            -174.6361452231719,
+            -6.312887114887975
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -208.6499746444784,
+            -172.03806901181858,
+            -6.312887114887975
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -207.1499746444784,
+            -169.43999280046526,
+            -6.312887114887975
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -205.6499746444784,
+            -166.84191658911195,
+            -6.312887114887975
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -204.1499746444784,
+            -164.24384037775863,
+            -6.312887114887975
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -202.6499746444784,
+            -161.64576416640531,
+            -6.312887114887975
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -203.22534084320068,
+            -159.0278995513916,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-20-44_702622777/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-20-44_702622777/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..24b38f7179da82e9dd1a5e20d0466bd7f3b3ef4a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-20-44_702622777/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            30.628853350296986,
+            -403.3973192323837,
+            -2.0583987831002766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            33.628853350296986,
+            -403.3973192323837,
+            -2.0583987831002766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            36.628853350296986,
+            -403.3973192323837,
+            -2.0583987831002766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            39.628853350296986,
+            -403.3973192323837,
+            -2.0583987831002766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            42.628853350296986,
+            -403.3973192323837,
+            -2.0583987831002766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            45.628853350296986,
+            -403.3973192323837,
+            -2.0583987831002766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            48.628853350296986,
+            -403.3973192323837,
+            -2.0583987831002766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            51.628853350296986,
+            -403.3973192323837,
+            -2.0583987831002766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            54.628853350296986,
+            -403.3973192323837,
+            -2.0583987831002766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            57.628853350296986,
+            -403.3973192323837,
+            -2.0583987831002766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            60.628853350296986,
+            -403.3973192323837,
+            -2.0583987831002766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            63.628853350296986,
+            -403.3973192323837,
+            -2.0583987831002766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            66.62885335029699,
+            -403.3973192323837,
+            -2.0583987831002766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            69.62885335029699,
+            -403.3973192323837,
+            -2.0583987831002766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            72.62885335029699,
+            -403.3973192323837,
+            -2.0583987831002766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            75.62885335029699,
+            -403.3973192323837,
+            -2.0583987831002766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            78.62885335029699,
+            -403.3973192323837,
+            -2.0583987831002766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            81.62885335029699,
+            -403.3973192323837,
+            -2.0583987831002766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            84.62885335029699,
+            -403.3973192323837,
+            -2.0583987831002766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            87.62885335029699,
+            -403.3973192323837,
+            -2.0583987831002766
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            90.3713176727295,
+            -405.9313674926758,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-22-10_473431429/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-22-10_473431429/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..58b6e2a61a761efeef98e286dd550b2f49b7b171
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-22-10_473431429/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1652.1163770508983,
+            -158.04220327057635,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1650.6163770508983,
+            -155.44412705922304,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1649.1163770508983,
+            -152.84605084786972,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1647.6163770508983,
+            -150.2479746365164,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1646.1163770508983,
+            -147.6498984251631,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1644.6163770508983,
+            -145.05182221380977,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1643.1163770508983,
+            -142.45374600245646,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1641.6163770508983,
+            -139.85566979110314,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1640.1163770508983,
+            -137.25759357974982,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1638.6163770508983,
+            -134.6595173683965,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1637.1163770508983,
+            -132.0614411570432,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1635.6163770508983,
+            -129.46336494568988,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1634.1163770508983,
+            -126.86528873433656,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1632.6163770508983,
+            -124.26721252298324,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1631.1163770508983,
+            -121.66913631162993,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1629.6163770508983,
+            -119.07106010027661,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1628.1163770508983,
+            -116.4729838889233,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1626.6163770508983,
+            -113.87490767756998,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1625.1163770508983,
+            -111.27683146621666,
+            -8.7619763626843
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1625.1163770508983,
+            -111.27683146621666,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1622.518300839545,
+            -109.77683146621666,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1619.9202246281916,
+            -108.27683146621666,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1617.3221484168382,
+            -106.77683146621666,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1614.7240722054848,
+            -105.27683146621666,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1612.1259959941315,
+            -103.77683146621666,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1609.527919782778,
+            -102.27683146621666,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1606.9298435714247,
+            -100.77683146621666,
+            -8.7619763626843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1604.3317673600714,
+            -99.27683146621666,
+            -8.7619763626843
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1602.297836303711,
+            -98.12757396697998,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-22-1_735001925/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-22-1_735001925/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b99d8039f939e8481cc9991ab683a51ecd182e35
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-22-1_735001925/pose.jsonl
@@ -0,0 +1,170 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            453.8158179163718,
+            -221.08032857387366,
+            -3.8590489020197127
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            453.8158179163718,
+            -224.08032857387366,
+            -3.8590489020197127
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            453.8158179163718,
+            -227.08032857387366,
+            -3.8590489020197127
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            453.8158179163718,
+            -230.08032857387366,
+            -3.8590489020197127
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            453.8158179163718,
+            -233.08032857387366,
+            -3.8590489020197127
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            453.8158179163718,
+            -236.08032857387366,
+            -3.8590489020197127
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            453.8158179163718,
+            -239.08032857387366,
+            -3.8590489020197127
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            453.8158179163718,
+            -242.08032857387366,
+            -3.8590489020197127
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            453.8158179163718,
+            -242.08032857387366,
+            -3.8590489020197127
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            455.3158179163718,
+            -244.67840478522697,
+            -3.8590489020197127
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            456.8158179163718,
+            -247.2764809965803,
+            -3.8590489020197127
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            458.3158179163718,
+            -249.8745572079336,
+            -3.8590489020197127
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            464.3743118286133,
+            -298.84694976806645,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-24-52_148420696/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-24-52_148420696/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f7295f50853467eae141635c2d931260bef7bb14
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-24-52_148420696/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            158.92104941973653,
+            -502.1041211476572,
+            -8.263496746614981
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            157.42104941973653,
+            -504.70219735901054,
+            -8.263496746614981
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            155.92104941973653,
+            -507.30027357036386,
+            -8.263496746614981
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            154.42104941973653,
+            -509.8983497817172,
+            -8.263496746614981
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            152.92104941973653,
+            -512.4964259930705,
+            -8.263496746614981
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            151.42104941973653,
+            -515.0945022044239,
+            -8.263496746614981
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            149.92104941973653,
+            -517.6925784157772,
+            -8.263496746614981
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            148.42104941973653,
+            -520.2906546271306,
+            -8.263496746614981
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            146.92104941973653,
+            -522.888730838484,
+            -8.263496746614981
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            145.42104941973653,
+            -525.4868070498374,
+            -8.263496746614981
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            143.92104941973653,
+            -528.0848832611907,
+            -8.263496746614981
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            142.42104941973653,
+            -530.6829594725441,
+            -8.263496746614981
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            140.92104941973653,
+            -533.2810356838975,
+            -8.263496746614981
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            139.42104941973653,
+            -535.8791118952508,
+            -8.263496746614981
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            137.92104941973653,
+            -538.4771881066042,
+            -8.263496746614981
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            136.42104941973653,
+            -541.0752643179576,
+            -8.263496746614981
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            134.92104941973653,
+            -543.673340529311,
+            -8.263496746614981
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            134.92104941973653,
+            -543.673340529311,
+            -8.263496746614981
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            132.32297320838322,
+            -545.173340529311,
+            -8.263496746614981
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            129.7248969970299,
+            -546.673340529311,
+            -8.263496746614981
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            127.09756164550782,
+            -547.6103538513185,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-8-36_921661146/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-8-36_921661146/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0a407cb10b91e2308b1757704518139a06c98509
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-8-36_921661146/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            121.15655995017778,
+            -459.27667640329264,
+            -7.171886239224754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            119.65655995017778,
+            -456.6786001919393,
+            -7.171886239224754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            118.15655995017778,
+            -454.080523980586,
+            -7.171886239224754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            116.65655995017778,
+            -451.4824477692327,
+            -7.171886239224754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            115.15655995017778,
+            -448.8843715578794,
+            -7.171886239224754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            113.65655995017778,
+            -446.28629534652606,
+            -7.171886239224754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            112.15655995017778,
+            -443.68821913517274,
+            -7.171886239224754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            110.65655995017778,
+            -441.0901429238194,
+            -7.171886239224754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            109.15655995017778,
+            -438.4920667124661,
+            -7.171886239224754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            107.65655995017778,
+            -435.8939905011128,
+            -7.171886239224754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            106.15655995017778,
+            -433.2959142897595,
+            -7.171886239224754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            104.65655995017778,
+            -430.69783807840616,
+            -7.171886239224754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            103.15655995017778,
+            -428.09976186705285,
+            -7.171886239224754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            101.65655995017778,
+            -425.50168565569953,
+            -7.171886239224754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            100.15655995017778,
+            -422.9036094443462,
+            -7.171886239224754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            98.65655995017778,
+            -420.3055332329929,
+            -7.171886239224754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            97.15655995017778,
+            -417.7074570216396,
+            -7.171886239224754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            95.65655995017778,
+            -415.10938081028627,
+            -7.171886239224754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            94.15655995017778,
+            -412.51130459893295,
+            -7.171886239224754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            92.65655995017778,
+            -409.91322838757964,
+            -7.171886239224754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            91.15655995017778,
+            -407.3151521762263,
+            -7.171886239224754
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            90.3713176727295,
+            -405.9313674926758,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-9-12_950777694/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-9-12_950777694/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..204944223485f61114907d9fafe1c8f29fa8ad89
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-9-12_950777694/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            89.09149349681286,
+            15.931220862920043,
+            -3.473437444956506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            86.49341728545954,
+            14.431220862920043,
+            -3.473437444956506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            83.89534107410623,
+            12.931220862920043,
+            -3.473437444956506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            81.29726486275291,
+            11.431220862920043,
+            -3.473437444956506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            78.6991886513996,
+            9.931220862920043,
+            -3.473437444956506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            76.10111244004628,
+            8.431220862920043,
+            -3.473437444956506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            73.50303622869296,
+            6.931220862920043,
+            -3.473437444956506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            70.90496001733965,
+            5.431220862920043,
+            -3.473437444956506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            68.30688380598633,
+            3.9312208629200427,
+            -3.473437444956506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            65.70880759463302,
+            2.4312208629200427,
+            -3.473437444956506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            63.1107313832797,
+            0.9312208629200429,
+            -3.473437444956506
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            63.1107313832797,
+            0.9312208629200429,
+            -3.473437444956506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            60.1107313832797,
+            0.9312208629200432,
+            -3.473437444956506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            57.1107313832797,
+            0.9312208629200436,
+            -3.473437444956506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            54.1107313832797,
+            0.9312208629200439,
+            -3.473437444956506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            51.1107313832797,
+            0.9312208629200442,
+            -3.473437444956506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            48.1107313832797,
+            0.9312208629200446,
+            -3.473437444956506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            45.1107313832797,
+            0.9312208629200449,
+            -3.473437444956506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            42.1107313832797,
+            0.9312208629200452,
+            -3.473437444956506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            39.1107313832797,
+            0.9312208629200456,
+            -3.473437444956506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            36.1107313832797,
+            0.9312208629200459,
+            -3.473437444956506
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            33.1107313832797,
+            0.9312208629200462,
+            -3.473437444956506
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            31.34878616333008,
+            1.572951889038086,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-11-46_568388370/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-11-46_568388370/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7267589156bf124b085f6ab32e274082ac06c1fc
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-11-46_568388370/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1319.408101654918,
+            273.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1319.408101654918,
+            270.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1319.408101654918,
+            267.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1319.408101654918,
+            264.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1319.408101654918,
+            261.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1319.408101654918,
+            258.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1319.408101654918,
+            255.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1319.408101654918,
+            252.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1319.408101654918,
+            249.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1319.408101654918,
+            246.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1319.408101654918,
+            243.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1319.408101654918,
+            240.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1319.408101654918,
+            237.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1319.408101654918,
+            234.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1319.408101654918,
+            231.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1319.408101654918,
+            228.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1319.408101654918,
+            225.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1319.408101654918,
+            222.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1319.408101654918,
+            219.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1319.408101654918,
+            216.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1319.408101654918,
+            213.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1319.408101654918,
+            210.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1319.408101654918,
+            207.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1319.408101654918,
+            204.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1319.408101654918,
+            201.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1319.408101654918,
+            198.8523562607969,
+            -5.707493922162855
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1318.4154022216799,
+            197.2680404663086,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-15-56_258129326/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-15-56_258129326/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a6829501e7fa996ae1d5f5bcc70799a944268e0c
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-15-56_258129326/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            294.9602346173497,
+            89.98402179817577,
+            -0.33437287007016536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            293.4602346173497,
+            92.58209800952909,
+            -0.33437287007016536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            291.9602346173497,
+            95.1801742208824,
+            -0.33437287007016536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            290.4602346173497,
+            97.77825043223572,
+            -0.33437287007016536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            288.9602346173497,
+            100.37632664358904,
+            -0.33437287007016536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            287.4602346173497,
+            102.97440285494235,
+            -0.33437287007016536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            285.9602346173497,
+            105.57247906629567,
+            -0.33437287007016536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            284.4602346173497,
+            108.17055527764899,
+            -0.33437287007016536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            282.9602346173497,
+            110.7686314890023,
+            -0.33437287007016536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            281.4602346173497,
+            113.36670770035562,
+            -0.33437287007016536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            279.9602346173497,
+            115.96478391170893,
+            -0.33437287007016536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            278.4602346173497,
+            118.56286012306225,
+            -0.33437287007016536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            276.9602346173497,
+            121.16093633441557,
+            -0.33437287007016536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            275.4602346173497,
+            123.75901254576888,
+            -0.33437287007016536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            273.9602346173497,
+            126.3570887571222,
+            -0.33437287007016536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            272.4602346173497,
+            128.95516496847551,
+            -0.33437287007016536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            270.9602346173497,
+            131.55324117982883,
+            -0.33437287007016536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            269.4602346173497,
+            134.15131739118215,
+            -0.33437287007016536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            267.9602346173497,
+            136.74939360253546,
+            -0.33437287007016536
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            267.9602346173497,
+            136.74939360253546,
+            -0.33437287007016536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            265.3621584059964,
+            138.24939360253546,
+            -0.33437287007016536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            262.7640821946431,
+            139.74939360253546,
+            -0.33437287007016536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            260.1660059832898,
+            141.24939360253546,
+            -0.33437287007016536
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            258.26647663116455,
+            142.7095600128174,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-22-51_823098032/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-22-51_823098032/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..054341f739b48f9b10fa96275f80b4b7092ba3fc
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-22-51_823098032/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            309.67622146198255,
+            -289.32832910719776,
+            -9.05254261363289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            308.17622146198255,
+            -291.9264053185511,
+            -9.05254261363289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            306.67622146198255,
+            -294.5244815299044,
+            -9.05254261363289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            305.17622146198255,
+            -297.1225577412577,
+            -9.05254261363289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            303.67622146198255,
+            -299.720633952611,
+            -9.05254261363289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            302.17622146198255,
+            -302.31871016396434,
+            -9.05254261363289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            300.67622146198255,
+            -304.91678637531766,
+            -9.05254261363289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            299.17622146198255,
+            -307.514862586671,
+            -9.05254261363289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            297.67622146198255,
+            -310.1129387980243,
+            -9.05254261363289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            296.17622146198255,
+            -312.7110150093776,
+            -9.05254261363289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            294.67622146198255,
+            -315.3090912207309,
+            -9.05254261363289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            293.17622146198255,
+            -317.90716743208424,
+            -9.05254261363289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            291.67622146198255,
+            -320.50524364343755,
+            -9.05254261363289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            290.17622146198255,
+            -323.10331985479087,
+            -9.05254261363289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            288.67622146198255,
+            -325.7013960661442,
+            -9.05254261363289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            287.17622146198255,
+            -328.2994722774975,
+            -9.05254261363289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            285.67622146198255,
+            -330.8975484888508,
+            -9.05254261363289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            284.17622146198255,
+            -333.49562470020413,
+            -9.05254261363289
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            284.17622146198255,
+            -333.49562470020413,
+            -9.05254261363289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            284.17622146198255,
+            -336.49562470020413,
+            -9.05254261363289
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            284.17622146198255,
+            -339.49562470020413,
+            -9.05254261363289
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            284.2394945144654,
+            -340.45848770141606,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-24-15_2098579958/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-24-15_2098579958/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b6c90e895cb7de570c872171dc26ec11fecfb419
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-24-15_2098579958/pose.jsonl
@@ -0,0 +1,131 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1071.1094876484008,
+            113.03680165134661,
+            -5.897232420040732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1069.6094876484008,
+            115.63487786269992,
+            -5.897232420040732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1068.1094876484008,
+            118.23295407405324,
+            -5.897232420040732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1066.6094876484008,
+            120.83103028540656,
+            -5.897232420040732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1065.1094876484008,
+            123.42910649675987,
+            -5.897232420040732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1063.6094876484008,
+            126.02718270811319,
+            -5.897232420040732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1062.1094876484008,
+            128.6252589194665,
+            -5.897232420040732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393198
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1060.6094876484008,
+            131.2233351308198,
+            -5.897232420040732
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1059.1094876484008,
+            133.82141134217312,
+            -5.897232420040732
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1048.2760719299317,
+            161.26469898223877,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-3-2_1509887186/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-3-2_1509887186/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..081233154ad3674095305d8a3166787d7e5bbb21
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-3-2_1509887186/pose.jsonl
@@ -0,0 +1,287 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            8.39390402619317,
+            -611.7271671027671,
+            -9.89351959689529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            5.393904026193169,
+            -611.7271671027671,
+            -9.89351959689529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            2.3939040261931694,
+            -611.7271671027671,
+            -9.89351959689529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -0.6060959738068306,
+            -611.7271671027671,
+            -9.89351959689529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -3.6060959738068306,
+            -611.7271671027671,
+            -9.89351959689529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -6.606095973806831,
+            -611.7271671027671,
+            -9.89351959689529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -9.60609597380683,
+            -611.7271671027671,
+            -9.89351959689529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -12.60609597380683,
+            -611.7271671027671,
+            -9.89351959689529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -15.60609597380683,
+            -611.7271671027671,
+            -9.89351959689529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -18.60609597380683,
+            -611.7271671027671,
+            -9.89351959689529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -21.60609597380683,
+            -611.7271671027671,
+            -9.89351959689529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -24.60609597380683,
+            -611.7271671027671,
+            -9.89351959689529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -27.60609597380683,
+            -611.7271671027671,
+            -9.89351959689529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -30.60609597380683,
+            -611.7271671027671,
+            -9.89351959689529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -33.60609597380683,
+            -611.7271671027671,
+            -9.89351959689529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -36.60609597380683,
+            -611.7271671027671,
+            -9.89351959689529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -39.60609597380683,
+            -611.7271671027671,
+            -9.89351959689529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -42.60609597380683,
+            -611.7271671027671,
+            -9.89351959689529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -45.60609597380683,
+            -611.7271671027671,
+            -9.89351959689529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -48.60609597380683,
+            -611.7271671027671,
+            -9.89351959689529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -51.60609597380683,
+            -611.7271671027671,
+            -9.89351959689529
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -52.7497802734375,
+            -613.6590488433839,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-47-26_1627051477/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-47-26_1627051477/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b694f5776f649213f52494a11b6cc70ffba6d3b0
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-47-26_1627051477/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            35.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            38.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            41.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            44.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            47.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            50.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            53.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            56.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            59.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            62.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            65.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            68.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            71.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            74.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            77.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            80.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            83.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            86.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            89.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            92.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            95.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            98.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            98.74391103305571,
+            64.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            101.34198724440903,
+            63.34246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            103.94006345576234,
+            61.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            106.53813966711566,
+            60.34246540963893,
+            -9.244767615145088
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            109.13621587846897,
+            58.84246540963893,
+            -9.244767615145088
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            112.24056682586671,
+            60.22414054870606,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-56-13_1656541449/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-56-13_1656541449/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5eee6cb89a7f02e733683e53742ba54ffd8e2bc1
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-56-13_1656541449/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1315.6963387450783,
+            -210.60210498701056,
+            -9.1127855578351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1318.6963387450783,
+            -210.60210498701056,
+            -9.1127855578351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1321.6963387450783,
+            -210.60210498701056,
+            -9.1127855578351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1324.6963387450783,
+            -210.60210498701056,
+            -9.1127855578351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1327.6963387450783,
+            -210.60210498701056,
+            -9.1127855578351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1330.6963387450783,
+            -210.60210498701056,
+            -9.1127855578351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1333.6963387450783,
+            -210.60210498701056,
+            -9.1127855578351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1336.6963387450783,
+            -210.60210498701056,
+            -9.1127855578351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1339.6963387450783,
+            -210.60210498701056,
+            -9.1127855578351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1342.6963387450783,
+            -210.60210498701056,
+            -9.1127855578351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1345.6963387450783,
+            -210.60210498701056,
+            -9.1127855578351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1348.6963387450783,
+            -210.60210498701056,
+            -9.1127855578351
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1348.6963387450783,
+            -210.60210498701056,
+            -9.1127855578351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1351.2944149564316,
+            -209.10210498701056,
+            -9.1127855578351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1353.892491167785,
+            -207.60210498701056,
+            -9.1127855578351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1356.4905673791384,
+            -206.10210498701056,
+            -9.1127855578351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1359.0886435904918,
+            -204.60210498701056,
+            -9.1127855578351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1361.6867198018451,
+            -203.10210498701056,
+            -9.1127855578351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1364.2847960131985,
+            -201.60210498701056,
+            -9.1127855578351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1366.8828722245519,
+            -200.10210498701056,
+            -9.1127855578351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1369.4809484359052,
+            -198.60210498701056,
+            -9.1127855578351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1372.0790246472586,
+            -197.10210498701056,
+            -9.1127855578351
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1374.3149368286133,
+            -198.07321910858155,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-14-38_1621421514/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-14-38_1621421514/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b48ad919e1cf3830ff5d586b3d2083179b4a605a
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-14-38_1621421514/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            568.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            565.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            562.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            559.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            556.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            553.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            550.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            547.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            544.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            541.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            538.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            535.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            532.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            529.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            526.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            523.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            520.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            517.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            514.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            511.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            508.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            508.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            508.2340328448536,
+            269.6158523771048,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            506.7340328448536,
+            272.2139285884581,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            505.2340328448536,
+            274.8120047998114,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            503.7340328448536,
+            277.4100810111647,
+            -9.290610909348432
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            503.7340328448536,
+            277.4100810111647,
+            -9.290610909348432
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            501.13595663350026,
+            278.9100810111647,
+            -9.290610909348432
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            498.19472236633305,
+            281.0884632110596,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-4-46_835022190/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-4-46_835022190/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0122cbbc835ad6121ebfe309d86363407a4e64de
--- /dev/null
+++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-4-46_835022190/pose.jsonl
@@ -0,0 +1,274 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            73.28319392935792,
+            -353.84918286189253,
+            -7.904547892223501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            74.78319392935792,
+            -356.44725907324585,
+            -7.904547892223501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            76.28319392935792,
+            -359.04533528459916,
+            -7.904547892223501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            77.78319392935792,
+            -361.6434114959525,
+            -7.904547892223501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            79.28319392935792,
+            -364.2414877073058,
+            -7.904547892223501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            80.78319392935792,
+            -366.8395639186591,
+            -7.904547892223501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            82.28319392935792,
+            -369.4376401300124,
+            -7.904547892223501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            83.78319392935792,
+            -372.03571634136574,
+            -7.904547892223501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            85.28319392935792,
+            -374.63379255271906,
+            -7.904547892223501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            86.78319392935792,
+            -377.2318687640724,
+            -7.904547892223501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            88.28319392935792,
+            -379.8299449754257,
+            -7.904547892223501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            89.78319392935792,
+            -382.428021186779,
+            -7.904547892223501
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            89.78319392935792,
+            -382.428021186779,
+            -7.904547892223501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            89.78319392935792,
+            -385.428021186779,
+            -7.904547892223501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            89.78319392935792,
+            -388.428021186779,
+            -7.904547892223501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            89.78319392935792,
+            -391.428021186779,
+            -7.904547892223501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            89.78319392935792,
+            -394.428021186779,
+            -7.904547892223501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            89.78319392935792,
+            -397.428021186779,
+            -7.904547892223501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            89.78319392935792,
+            -400.428021186779,
+            -7.904547892223501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            89.78319392935792,
+            -403.428021186779,
+            -7.904547892223501
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            90.3713176727295,
+            -405.9313674926758,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}