diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-24-37_1189641421/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-24-37_1189641421/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b671270a4221976810d2849a83e14d69c16b2590
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-24-37_1189641421/pose.jsonl
@@ -0,0 +1,573 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            316.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            319.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            322.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            325.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            328.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            331.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            334.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            337.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            340.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            343.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            346.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            349.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            352.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            355.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            358.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            361.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            364.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            367.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            370.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            373.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            376.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            379.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            382.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            385.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            388.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            391.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            394.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            397.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            400.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            403.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            406.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            409.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            412.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            415.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            418.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            421.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            424.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            424.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            424.6342545892635,
+            575.5694952081049,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            426.1342545892635,
+            572.9714189967515,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            427.6342545892635,
+            570.3733427853981,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            429.1342545892635,
+            567.7752665740447,
+            2.8700121739626265
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            430.6342545892635,
+            565.1771903626914,
+            2.8700121739626265
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            434.03729019165036,
+            563.8867979431152,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-27-0_1540383426/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-27-0_1540383426/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..427e209f77afa9c68987b0e18578af0a20ad56b8
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-27-0_1540383426/pose.jsonl
@@ -0,0 +1,547 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -243.64494212948864,
+            -431.8983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -246.24301834084196,
+            -430.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -248.84109455219527,
+            -428.8983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -251.4391707635486,
+            -427.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -254.0372469749019,
+            -425.8983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -256.6353231862552,
+            -424.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -259.23339939760854,
+            -422.8983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -261.83147560896185,
+            -421.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -264.42955182031517,
+            -419.8983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -267.0276280316685,
+            -418.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -269.6257042430218,
+            -416.8983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -272.2237804543751,
+            -415.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -274.82185666572843,
+            -413.8983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -277.41993287708175,
+            -412.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -280.01800908843506,
+            -410.8983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -282.6160852997884,
+            -409.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -285.2141615111417,
+            -407.8983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -287.812237722495,
+            -406.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -290.41031393384833,
+            -404.8983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -293.00839014520164,
+            -403.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -295.60646635655496,
+            -401.8983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -298.2045425679083,
+            -400.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -300.8026187792616,
+            -398.8983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -303.4006949906149,
+            -397.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -305.9987712019682,
+            -395.8983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -308.59684741332154,
+            -394.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -311.19492362467486,
+            -392.8983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -313.7929998360282,
+            -391.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -316.3910760473815,
+            -389.8983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -318.9891522587348,
+            -388.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -321.5872284700881,
+            -386.8983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -324.18530468144144,
+            -385.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -326.78338089279475,
+            -383.8983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -329.38145710414807,
+            -382.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -331.9795333155014,
+            -380.8983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -334.5776095268547,
+            -379.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -334.5776095268547,
+            -379.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -337.5776095268547,
+            -379.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -340.5776095268547,
+            -379.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -343.5776095268547,
+            -379.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -346.5776095268547,
+            -379.3983146866434,
+            -1.1214067771998613
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -348.85303680419923,
+            -377.0924723815918,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-27-38_1303455736/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-27-38_1303455736/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..052b725773ff510ebee383f4dd6acb463267a6ad
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-27-38_1303455736/pose.jsonl
@@ -0,0 +1,430 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -4.069292914692262,
+            80.73969082576446,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -2.569292914692262,
+            83.33776703711777,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1.0692929146922614,
+            85.93584324847109,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            0.43070708530773905,
+            88.5339194598244,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1.9307070853077395,
+            91.13199567117772,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            3.43070708530774,
+            93.73007188253104,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            4.93070708530774,
+            96.32814809388435,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            6.430707085307741,
+            98.92622430523767,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965974
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            7.930707085307741,
+            101.52430051659098,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            9.430707085307741,
+            104.1223767279443,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            10.930707085307741,
+            106.72045293929762,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            12.430707085307741,
+            109.31852915065093,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            13.930707085307741,
+            111.91660536200425,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            15.430707085307741,
+            114.51468157335756,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            16.93070708530774,
+            117.11275778471088,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            18.43070708530774,
+            119.7108339960642,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            19.93070708530774,
+            122.30891020741751,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            21.43070708530774,
+            124.90698641877083,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            22.93070708530774,
+            127.50506263012414,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            24.43070708530774,
+            130.10313884147746,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            25.93070708530774,
+            132.70121505283078,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            27.43070708530774,
+            135.2992912641841,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            28.93070708530774,
+            137.8973674755374,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            30.43070708530774,
+            140.49544368689072,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            31.93070708530774,
+            143.09351989824404,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            33.430707085307745,
+            145.69159610959736,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965967
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            34.930707085307745,
+            148.28967232095067,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            36.430707085307745,
+            150.887748532304,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            37.930707085307745,
+            153.4858247436573,
+            0.26382343259082486
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            37.930707085307745,
+            153.4858247436573,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            37.930707085307745,
+            156.4858247436573,
+            0.26382343259082486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            37.930707085307745,
+            159.4858247436573,
+            0.26382343259082486
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            36.64368785858154,
+            161.94002262115478,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-33-57_1131176229/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-33-57_1131176229/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fdcb47efd78b5554e9e0e8637907ca536c250982
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-33-57_1131176229/pose.jsonl
@@ -0,0 +1,508 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -738.4128398493366,
+            12.948520981015307,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -736.9128398493366,
+            15.546597192368623,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -735.4128398493366,
+            18.14467340372194,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -733.9128398493366,
+            20.742749615075255,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -732.4128398493366,
+            23.34082582642857,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -730.9128398493366,
+            25.938902037781887,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -729.4128398493366,
+            28.536978249135203,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -727.9128398493366,
+            31.13505446048852,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -726.4128398493366,
+            33.733130671841835,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -724.9128398493366,
+            36.33120688319515,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -723.4128398493366,
+            38.92928309454847,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -721.9128398493366,
+            41.52735930590178,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -720.4128398493366,
+            44.1254355172551,
+            3.541559095224825
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -720.4128398493366,
+            44.1254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -717.8147636379833,
+            45.6254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -715.21668742663,
+            47.1254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -712.6186112152766,
+            48.6254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -710.0205350039232,
+            50.1254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -707.4224587925698,
+            51.6254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -704.8243825812165,
+            53.1254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -702.2263063698631,
+            54.6254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -699.6282301585097,
+            56.1254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -697.0301539471564,
+            57.6254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -694.432077735803,
+            59.1254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -691.8340015244496,
+            60.6254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -689.2359253130962,
+            62.1254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -686.6378491017429,
+            63.6254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -684.0397728903895,
+            65.1254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -681.4416966790361,
+            66.6254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -678.8436204676827,
+            68.1254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -676.2455442563294,
+            69.6254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -673.647468044976,
+            71.1254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -671.0493918336226,
+            72.6254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -668.4513156222692,
+            74.1254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -665.8532394109159,
+            75.6254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -663.2551631995625,
+            77.1254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -660.6570869882091,
+            78.6254355172551,
+            3.541559095224825
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -658.0590107768558,
+            80.1254355172551,
+            3.541559095224825
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -655.7620668029786,
+            80.36062210083007,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-37-51_1424268980/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-37-51_1424268980/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cb405a41711b05f4262824acc1cab9a1db2c038d
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-37-51_1424268980/pose.jsonl
@@ -0,0 +1,495 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -327.4849016658082,
+            -559.7627291252098,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -325.9849016658082,
+            -557.1646529138566,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -324.4849016658082,
+            -554.5665767025032,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -322.9849016658082,
+            -551.9685004911498,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -321.4849016658082,
+            -549.3704242797965,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -319.9849016658082,
+            -546.7723480684431,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -318.4849016658082,
+            -544.1742718570897,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -316.9849016658082,
+            -541.5761956457363,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -315.4849016658082,
+            -538.978119434383,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -313.9849016658082,
+            -536.3800432230296,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -312.4849016658082,
+            -533.7819670116762,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -310.9849016658082,
+            -531.1838908003228,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -309.4849016658082,
+            -528.5858145889695,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -307.9849016658082,
+            -525.9877383776161,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -306.4849016658082,
+            -523.3896621662627,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -304.9849016658082,
+            -520.7915859549094,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -303.4849016658082,
+            -518.193509743556,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -301.9849016658082,
+            -515.5954335322026,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -300.4849016658082,
+            -512.9973573208492,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -298.9849016658082,
+            -510.3992811094959,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -297.4849016658082,
+            -507.8012048981426,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -295.9849016658082,
+            -505.2031286867893,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -294.4849016658082,
+            -502.60505247543597,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -292.9849016658082,
+            -500.00697626408265,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -291.4849016658082,
+            -497.40890005272934,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -289.9849016658082,
+            -494.810823841376,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -288.4849016658082,
+            -492.2127476300227,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -286.9849016658082,
+            -489.6146714186694,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -285.4849016658082,
+            -487.0165952073161,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -283.9849016658082,
+            -484.41851899596276,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -282.4849016658082,
+            -481.82044278460944,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -280.9849016658082,
+            -479.2223665732561,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -279.4849016658082,
+            -476.6242903619028,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -277.9849016658082,
+            -474.0262141505495,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -276.4849016658082,
+            -471.4281379391962,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -274.9849016658082,
+            -468.83006172784286,
+            4.344251029875849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -273.4849016658082,
+            -466.23198551648954,
+            4.344251029875849
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -270.6246540832519,
+            -464.87673126220704,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-40-28_1937477084/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-40-28_1937477084/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b8a78feab33d574b161742a9d2cc2696e2d8e52a
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-40-28_1937477084/pose.jsonl
@@ -0,0 +1,547 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -916.0119864655019,
+            95.47131964989256,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -914.5119864655019,
+            92.87324343853925,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -913.0119864655019,
+            90.27516722718593,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -911.5119864655019,
+            87.67709101583262,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -910.0119864655019,
+            85.0790148044793,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -908.5119864655019,
+            82.48093859312598,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -907.0119864655019,
+            79.88286238177267,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -905.5119864655019,
+            77.28478617041935,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -904.0119864655019,
+            74.68670995906604,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -902.5119864655019,
+            72.08863374771272,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -901.0119864655019,
+            69.4905575363594,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -899.5119864655019,
+            66.89248132500609,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -898.0119864655019,
+            64.29440511365277,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -896.5119864655019,
+            61.696328902299456,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -895.0119864655019,
+            59.09825269094614,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -893.5119864655019,
+            56.500176479592824,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -892.0119864655019,
+            53.90210026823951,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -890.5119864655019,
+            51.30402405688619,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -889.0119864655019,
+            48.705947845532876,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -887.5119864655019,
+            46.10787163417956,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -886.0119864655019,
+            43.509795422826244,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -884.5119864655019,
+            40.91171921147293,
+            -3.3575313017150012
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -884.5119864655019,
+            40.91171921147293,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -881.9139102541485,
+            39.41171921147293,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -879.3158340427951,
+            37.91171921147293,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -876.7177578314418,
+            36.41171921147293,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -874.1196816200884,
+            34.91171921147293,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -871.521605408735,
+            33.41171921147293,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -868.9235291973816,
+            31.911719211472928,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -866.3254529860283,
+            30.411719211472928,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -863.7273767746749,
+            28.911719211472928,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -861.1293005633215,
+            27.411719211472928,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -858.5312243519681,
+            25.911719211472928,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -855.9331481406148,
+            24.411719211472928,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -853.3350719292614,
+            22.911719211472928,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -850.736995717908,
+            21.411719211472928,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -848.1389195065547,
+            19.911719211472928,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -845.5408432952013,
+            18.411719211472928,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -842.9427670838479,
+            16.911719211472928,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -840.3446908724945,
+            15.411719211472928,
+            -3.3575313017150012
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -837.7466146611412,
+            13.911719211472928,
+            -3.3575313017150012
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -834.8437512207031,
+            12.72820457458496,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-43-12_1433925857/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-43-12_1433925857/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..997582f6b9873da0bbf61f5ca4e3be57684f36c7
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-43-12_1433925857/pose.jsonl
@@ -0,0 +1,521 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -354.20312642161934,
+            -224.78325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -356.80120263297266,
+            -223.28325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -359.399278844326,
+            -221.78325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -361.9973550556793,
+            -220.28325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -364.5954312670326,
+            -218.78325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -367.1935074783859,
+            -217.28325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -369.79158368973924,
+            -215.78325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -372.38965990109256,
+            -214.28325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -374.9877361124459,
+            -212.78325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -377.5858123237992,
+            -211.28325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -380.1838885351525,
+            -209.78325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -382.7819647465058,
+            -208.28325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -385.38004095785914,
+            -206.78325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -387.97811716921245,
+            -205.28325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -390.57619338056577,
+            -203.78325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -393.1742695919191,
+            -202.28325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -395.7723458032724,
+            -200.78325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -398.3704220146257,
+            -199.28325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -400.96849822597903,
+            -197.78325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -403.56657443733235,
+            -196.28325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -406.16465064868567,
+            -194.78325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -408.762726860039,
+            -193.28325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -411.3608030713923,
+            -191.78325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -413.9588792827456,
+            -190.28325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -416.55695549409893,
+            -188.78325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -419.15503170545225,
+            -187.28325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -421.75310791680556,
+            -185.78325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -424.3511841281589,
+            -184.28325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -426.9492603395122,
+            -182.78325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -429.5473365508655,
+            -181.28325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -432.1454127622188,
+            -179.78325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -434.74348897357214,
+            -178.28325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -437.34156518492546,
+            -176.78325207245365,
+            -0.544934260206837
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -437.34156518492546,
+            -176.78325207245365,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -438.84156518492546,
+            -174.18517586110033,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -440.34156518492546,
+            -171.58709964974702,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -441.84156518492546,
+            -168.9890234383937,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -443.34156518492546,
+            -166.39094722704039,
+            -0.544934260206837
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -444.84156518492546,
+            -163.79287101568707,
+            -0.544934260206837
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -445.52278427124025,
+            -160.4525846862793,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-45-48_1374344043/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-45-48_1374344043/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..99b51bb0ef7befef48c532a5fea8e392f7add25b
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-45-48_1374344043/pose.jsonl
@@ -0,0 +1,456 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -728.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -731.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -734.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -737.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -740.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -743.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -746.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -749.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -752.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -755.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -758.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -761.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -764.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -767.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -770.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -773.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -776.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -779.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -782.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -785.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -788.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -791.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -794.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -794.2996670021292,
+            23.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -796.8977432134825,
+            22.101972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -799.4958194248359,
+            20.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -802.0938956361892,
+            19.101972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -804.6919718475426,
+            17.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -807.290048058896,
+            16.101972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -809.8881242702494,
+            14.601972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -812.4862004816027,
+            13.101972560852325,
+            1.476586806004475
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -812.4862004816027,
+            13.101972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -815.4862004816027,
+            13.101972560852325,
+            1.476586806004475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -818.4862004816027,
+            13.101972560852325,
+            1.476586806004475
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -821.0513497924804,
+            12.496731524467467,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-46-43_356426808/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-46-43_356426808/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..491c7b6eac35bbc8e3ba0b6e22c29a3ad8bd4c19
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-46-43_356426808/pose.jsonl
@@ -0,0 +1,495 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -571.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -574.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -577.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -580.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -583.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -586.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -589.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -592.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -595.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -598.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -601.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -604.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -607.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -610.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -613.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -616.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -619.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -622.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -625.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -628.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -631.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -634.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -637.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -640.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -643.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -646.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -649.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -652.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -655.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -655.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -655.6711144739768,
+            -4.302306794422652,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -657.1711144739768,
+            -1.7042305830693358,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -658.6711144739768,
+            0.8938456282839802,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -660.1711144739768,
+            3.491921839637296,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -661.6711144739768,
+            6.089998050990612,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -663.1711144739768,
+            8.688074262343928,
+            1.8136926401432962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -664.6711144739768,
+            11.286150473697244,
+            1.8136926401432962
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -667.3111592102051,
+            12.556017684936524,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-46-5_760313750/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-46-5_760313750/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f3dab6fa8f7a1890840ba775549bcf50ec9c1eef
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-46-5_760313750/pose.jsonl
@@ -0,0 +1,521 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            111.84765411823672,
+            241.38604774211723,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            110.34765411823672,
+            238.7879715307639,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            108.84765411823672,
+            236.1898953194106,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            107.34765411823672,
+            233.59181910805728,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            105.84765411823672,
+            230.99374289670396,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            104.34765411823672,
+            228.39566668535065,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            102.84765411823672,
+            225.79759047399733,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            101.34765411823672,
+            223.19951426264402,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            99.84765411823672,
+            220.6014380512907,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            98.34765411823672,
+            218.00336183993738,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            96.84765411823672,
+            215.40528562858407,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            95.34765411823672,
+            212.80720941723075,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            93.84765411823672,
+            210.20913320587744,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            92.34765411823672,
+            207.61105699452412,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            90.84765411823672,
+            205.0129807831708,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            89.34765411823672,
+            202.4149045718175,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            87.84765411823672,
+            199.81682836046417,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            86.34765411823672,
+            197.21875214911086,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            84.84765411823672,
+            194.62067593775754,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            83.34765411823672,
+            192.02259972640422,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            81.84765411823672,
+            189.4245235150509,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            80.34765411823672,
+            186.8264473036976,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            78.84765411823672,
+            184.22837109234428,
+            -4.857120152106094
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            78.84765411823672,
+            184.22837109234428,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            76.2495779068834,
+            182.72837109234428,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            73.65150169553009,
+            181.22837109234428,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            71.05342548417677,
+            179.72837109234428,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            68.45534927282345,
+            178.22837109234428,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            65.85727306147014,
+            176.72837109234428,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            63.25919685011682,
+            175.22837109234428,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            60.66112063876351,
+            173.72837109234428,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            58.06304442741019,
+            172.22837109234428,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            55.464968216056874,
+            170.72837109234428,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            52.86689200470356,
+            169.22837109234428,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            50.26881579335024,
+            167.72837109234428,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            47.670739581996926,
+            166.22837109234428,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            45.07266337064361,
+            164.72837109234428,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            42.474587159290294,
+            163.22837109234428,
+            -4.857120152106094
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            39.87651094793698,
+            161.72837109234428,
+            -4.857120152106094
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            36.64368785858154,
+            161.94002262115478,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-47-1_945117276/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-47-1_945117276/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e88df2a25f5c87fddef3e3e224e422d304aff522
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-47-1_945117276/pose.jsonl
@@ -0,0 +1,469 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -787.1843477417008,
+            80.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -787.1843477417008,
+            83.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -787.1843477417008,
+            86.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -787.1843477417008,
+            89.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -787.1843477417008,
+            92.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -787.1843477417008,
+            95.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -787.1843477417008,
+            98.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -787.1843477417008,
+            101.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -787.1843477417008,
+            104.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -787.1843477417008,
+            107.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -787.1843477417008,
+            110.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -787.1843477417008,
+            113.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -787.1843477417008,
+            116.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -787.1843477417008,
+            119.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -787.1843477417008,
+            122.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -787.1843477417008,
+            125.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -787.1843477417008,
+            128.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -787.1843477417008,
+            131.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -787.1843477417008,
+            134.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -787.1843477417008,
+            137.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -787.1843477417008,
+            140.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -787.1843477417008,
+            143.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -787.1843477417008,
+            146.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -787.1843477417008,
+            149.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -787.1843477417008,
+            152.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -787.1843477417008,
+            155.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -787.1843477417008,
+            158.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -787.1843477417008,
+            161.28035123708526,
+            4.005024765385043
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -787.1843477417008,
+            161.28035123708526,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -785.6843477417008,
+            163.87842744843857,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -784.1843477417008,
+            166.4765036597919,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -782.6843477417008,
+            169.0745798711452,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -781.1843477417008,
+            171.67265608249852,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -779.6843477417008,
+            174.27073229385184,
+            4.005024765385043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -778.1843477417008,
+            176.86880850520515,
+            4.005024765385043
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -779.8773458862305,
+            179.3161050415039,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-48-31_1918502651/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-48-31_1918502651/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2ed6fecb3be3588e80348209226026920869e300
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-48-31_1918502651/pose.jsonl
@@ -0,0 +1,443 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            170.26158163690422,
+            610.7703555804029,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            171.76158163690422,
+            613.3684317917562,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            173.26158163690422,
+            615.9665080031095,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            174.76158163690422,
+            618.5645842144629,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            176.26158163690422,
+            621.1626604258163,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            177.76158163690422,
+            623.7607366371697,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            179.26158163690422,
+            626.358812848523,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            180.76158163690422,
+            628.9568890598764,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            182.26158163690422,
+            631.5549652712298,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            183.76158163690422,
+            634.1530414825831,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            185.26158163690422,
+            636.7511176939365,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            186.76158163690422,
+            639.3491939052899,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            188.26158163690422,
+            641.9472701166433,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            189.76158163690422,
+            644.5453463279966,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            191.26158163690422,
+            647.14342253935,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            192.76158163690422,
+            649.7414987507034,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            194.26158163690422,
+            652.3395749620568,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            195.76158163690422,
+            654.9376511734101,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            197.26158163690422,
+            657.5357273847635,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            198.76158163690422,
+            660.1338035961169,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            200.26158163690422,
+            662.7318798074702,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            201.76158163690422,
+            665.3299560188236,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            203.26158163690422,
+            667.928032230177,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            204.76158163690422,
+            670.5261084415304,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            206.26158163690422,
+            673.1241846528837,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            207.76158163690422,
+            675.7222608642371,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            209.26158163690422,
+            678.3203370755905,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            210.76158163690422,
+            680.9184132869439,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            212.26158163690422,
+            683.5164894982972,
+            -4.5839190452699405
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            212.26158163690422,
+            683.5164894982972,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            214.85965784825754,
+            685.0164894982972,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            217.45773405961086,
+            686.5164894982972,
+            -4.5839190452699405
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            220.05581027096417,
+            688.0164894982972,
+            -4.5839190452699405
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            222.9949237060547,
+            690.6306562805175,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-48-47_752392754/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-48-47_752392754/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2be3322641419225c37202aab40385450d7ec739
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-48-47_752392754/pose.jsonl
@@ -0,0 +1,430 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -877.1713606982366,
+            360.7993398223649,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -875.6713606982366,
+            358.2012636110116,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -874.1713606982366,
+            355.6031873996583,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -872.6713606982366,
+            353.00511118830497,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -871.1713606982366,
+            350.40703497695165,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -869.6713606982366,
+            347.80895876559833,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -868.1713606982366,
+            345.210882554245,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -866.6713606982366,
+            342.6128063428917,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -865.1713606982366,
+            340.0147301315384,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -863.6713606982366,
+            337.41665392018507,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -862.1713606982366,
+            334.81857770883175,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -860.6713606982366,
+            332.22050149747844,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -859.1713606982366,
+            329.6224252861251,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -857.6713606982366,
+            327.0243490747718,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -856.1713606982366,
+            324.4262728634185,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -854.6713606982366,
+            321.8281966520652,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -853.1713606982366,
+            319.23012044071186,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -851.6713606982366,
+            316.63204422935854,
+            3.8686076586683633
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -851.6713606982366,
+            316.63204422935854,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -849.0732844868833,
+            315.13204422935854,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -846.4752082755299,
+            313.63204422935854,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -843.8771320641765,
+            312.13204422935854,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -841.2790558528231,
+            310.63204422935854,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -838.6809796414698,
+            309.13204422935854,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -836.0829034301164,
+            307.63204422935854,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -833.484827218763,
+            306.13204422935854,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -830.8867510074097,
+            304.63204422935854,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -828.2886747960563,
+            303.13204422935854,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -825.6905985847029,
+            301.63204422935854,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -823.0925223733495,
+            300.13204422935854,
+            3.8686076586683633
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -823.0925223733495,
+            300.13204422935854,
+            3.8686076586683633
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -820.0925223733495,
+            300.13204422935854,
+            3.8686076586683633
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -802.5129748535156,
+            284.37975662231446,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-49-3_1474612399/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-49-3_1474612399/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e9d2a7503f96c8448ee9bd916c957e3445315ee4
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-49-3_1474612399/pose.jsonl
@@ -0,0 +1,521 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -453.22675714399986,
+            260.084211331948,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -455.8248333553532,
+            258.584211331948,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -458.4229095667065,
+            257.084211331948,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -461.0209857780598,
+            255.58421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -463.6190619894131,
+            254.08421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -466.21713820076644,
+            252.58421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -468.81521441211976,
+            251.08421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -471.4132906234731,
+            249.58421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -474.0113668348264,
+            248.08421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -476.6094430461797,
+            246.58421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -479.207519257533,
+            245.08421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -481.80559546888634,
+            243.58421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -484.40367168023965,
+            242.08421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -487.00174789159297,
+            240.58421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -489.5998241029463,
+            239.08421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -492.1979003142996,
+            237.58421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -494.7959765256529,
+            236.08421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -497.39405273700623,
+            234.58421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -499.99212894835955,
+            233.08421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -502.59020515971287,
+            231.58421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -505.1882813710662,
+            230.08421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -507.7863575824195,
+            228.58421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -510.3844337937728,
+            227.08421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -512.9825100051262,
+            225.58421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -515.5805862164796,
+            224.08421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -518.1786624278329,
+            222.58421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -520.7767386391863,
+            221.08421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -523.3748148505397,
+            219.58421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -525.972891061893,
+            218.08421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -528.5709672732464,
+            216.58421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -531.1690434845998,
+            215.08421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -533.7671196959532,
+            213.58421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -536.3651959073065,
+            212.08421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -538.9632721186599,
+            210.58421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -541.5613483300133,
+            209.08421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -544.1594245413667,
+            207.58421133194798,
+            -2.2517044399937003
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -544.1594245413667,
+            207.58421133194798,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -545.6594245413667,
+            204.98613512059467,
+            -2.2517044399937003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -547.1594245413667,
+            202.38805890924135,
+            -2.2517044399937003
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -547.9009985351562,
+            200.65022193908692,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-56-18_485560280/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-56-18_485560280/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c8c174396c8fb8b4b90ac3989a2c039643fd076d
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-56-18_485560280/pose.jsonl
@@ -0,0 +1,482 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -658.6125552299837,
+            -46.357896135256446,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -661.210631441337,
+            -44.857896135256446,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -663.8087076526904,
+            -43.357896135256446,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -666.4067838640437,
+            -41.857896135256446,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -669.0048600753971,
+            -40.357896135256446,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -671.6029362867505,
+            -38.857896135256446,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -674.2010124981039,
+            -37.357896135256446,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -676.7990887094572,
+            -35.857896135256446,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -679.3971649208106,
+            -34.357896135256446,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -681.995241132164,
+            -32.857896135256446,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -684.5933173435174,
+            -31.357896135256446,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -687.1913935548707,
+            -29.857896135256446,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -689.7894697662241,
+            -28.357896135256446,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -692.3875459775775,
+            -26.857896135256446,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -694.9856221889308,
+            -25.357896135256446,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -697.5836984002842,
+            -23.857896135256446,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -700.1817746116376,
+            -22.357896135256446,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -702.779850822991,
+            -20.857896135256446,
+            -3.6152139278002435
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -702.779850822991,
+            -20.857896135256446,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -704.279850822991,
+            -18.25981992390313,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -705.779850822991,
+            -15.661743712549814,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -707.279850822991,
+            -13.063667501196498,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -708.779850822991,
+            -10.465591289843182,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -710.279850822991,
+            -7.867515078489866,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -711.779850822991,
+            -5.26943886713655,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -713.279850822991,
+            -2.671362655783234,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -714.779850822991,
+            -0.07328644442991816,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -716.279850822991,
+            2.524789766923398,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -717.779850822991,
+            5.122865978276714,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -719.279850822991,
+            7.72094218963003,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -720.779850822991,
+            10.319018400983346,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -722.279850822991,
+            12.917094612336662,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -723.779850822991,
+            15.515170823689978,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -725.279850822991,
+            18.113247035043294,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -726.779850822991,
+            20.71132324639661,
+            -3.6152139278002435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -728.279850822991,
+            23.309399457749926,
+            -3.6152139278002435
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -731.5441055297852,
+            23.07341537475586,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-57-31_894429689/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-57-31_894429689/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..41fd14c5808586f5697cd96f26adb91cc3a9cb82
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-57-31_894429689/pose.jsonl
@@ -0,0 +1,508 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -712.4417240150683,
+            359.83459902338257,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -712.4417240150683,
+            356.83459902338257,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -712.4417240150683,
+            353.83459902338257,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -712.4417240150683,
+            350.83459902338257,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -712.4417240150683,
+            347.83459902338257,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -712.4417240150683,
+            344.83459902338257,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -712.4417240150683,
+            341.83459902338257,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -712.4417240150683,
+            338.83459902338257,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -712.4417240150683,
+            335.83459902338257,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -712.4417240150683,
+            332.83459902338257,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -712.4417240150683,
+            329.83459902338257,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -712.4417240150683,
+            326.83459902338257,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -712.4417240150683,
+            323.83459902338257,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -712.4417240150683,
+            320.83459902338257,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -712.4417240150683,
+            317.83459902338257,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -712.4417240150683,
+            314.83459902338257,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -712.4417240150683,
+            311.83459902338257,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -712.4417240150683,
+            308.83459902338257,
+            -1.2256418917468945
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -712.4417240150683,
+            308.83459902338257,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -710.9417240150683,
+            306.23652281202925,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -709.4417240150683,
+            303.63844660067593,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -707.9417240150683,
+            301.0403703893226,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -706.4417240150683,
+            298.4422941779693,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -704.9417240150683,
+            295.844217966616,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -703.4417240150683,
+            293.24614175526267,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -701.9417240150683,
+            290.64806554390935,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -700.4417240150683,
+            288.04998933255604,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -698.9417240150683,
+            285.4519131212027,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -697.4417240150683,
+            282.8538369098494,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -695.9417240150683,
+            280.2557606984961,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -694.4417240150683,
+            277.6576844871428,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -692.9417240150683,
+            275.05960827578946,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -691.4417240150683,
+            272.46153206443614,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -689.9417240150683,
+            269.8634558530828,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -688.4417240150683,
+            267.2653796417295,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -686.9417240150683,
+            264.6673034303762,
+            -1.2256418917468945
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -686.9417240150683,
+            264.6673034303762,
+            -1.2256418917468945
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -686.9417240150683,
+            261.6673034303762,
+            -1.2256418917468945
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -686.6680834960937,
+            258.1570868682861,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-59-1_1063958031/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-59-1_1063958031/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..97b188afef70bf2cce443eee299ba4ab6aed0194
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_11-59-1_1063958031/pose.jsonl
@@ -0,0 +1,482 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -580.3273093088993,
+            140.53245934101128,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -581.8273093088993,
+            137.93438312965796,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -583.3273093088993,
+            135.33630691830464,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -584.8273093088993,
+            132.73823070695133,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -586.3273093088993,
+            130.140154495598,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -587.8273093088993,
+            127.5420782842447,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -589.3273093088993,
+            124.94400207289138,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -590.8273093088993,
+            122.34592586153806,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -592.3273093088993,
+            119.74784965018475,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -593.8273093088993,
+            117.14977343883143,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -595.3273093088993,
+            114.55169722747812,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -596.8273093088993,
+            111.9536210161248,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -598.3273093088993,
+            109.35554480477148,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -599.8273093088993,
+            106.75746859341817,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -601.3273093088993,
+            104.15939238206485,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -602.8273093088993,
+            101.56131617071154,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -604.3273093088993,
+            98.96323995935822,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -605.8273093088993,
+            96.3651637480049,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -607.3273093088993,
+            93.76708753665159,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -608.8273093088993,
+            91.16901132529827,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -610.3273093088993,
+            88.57093511394496,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -611.8273093088993,
+            85.97285890259164,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -613.3273093088993,
+            83.37478269123832,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -614.8273093088993,
+            80.77670647988501,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -616.3273093088993,
+            78.17863026853169,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -617.8273093088993,
+            75.58055405717838,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -619.3273093088993,
+            72.98247784582506,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -620.8273093088993,
+            70.38440163447174,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -622.3273093088993,
+            67.78632542311843,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -623.8273093088993,
+            65.18824921176511,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -625.3273093088993,
+            62.590173000411795,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -626.8273093088993,
+            59.99209678905848,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -628.3273093088993,
+            57.39402057770516,
+            3.6867934555706103
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -628.3273093088993,
+            57.39402057770516,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -628.3273093088993,
+            54.39402057770516,
+            3.6867934555706103
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -628.3273093088993,
+            51.39402057770516,
+            3.6867934555706103
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -629.9300636291504,
+            48.19314208984375,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-13-21_155324914/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-13-21_155324914/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0dce2e54e8ab36155e05713af92320baaf38cde3
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-13-21_155324914/pose.jsonl
@@ -0,0 +1,521 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -711.056889440874,
+            -261.7367037419001,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -709.556889440874,
+            -259.1386275305468,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -708.056889440874,
+            -256.54055131919347,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -706.556889440874,
+            -253.94247510784015,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -705.056889440874,
+            -251.34439889648684,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -703.556889440874,
+            -248.74632268513352,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -702.056889440874,
+            -246.1482464737802,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -700.556889440874,
+            -243.5501702624269,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -699.056889440874,
+            -240.95209405107357,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -697.556889440874,
+            -238.35401783972026,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -696.056889440874,
+            -235.75594162836694,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -694.556889440874,
+            -233.15786541701362,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -693.056889440874,
+            -230.5597892056603,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -691.556889440874,
+            -227.961712994307,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -690.056889440874,
+            -225.36363678295368,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -688.556889440874,
+            -222.76556057160036,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -687.056889440874,
+            -220.16748436024704,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -685.556889440874,
+            -217.56940814889373,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -684.056889440874,
+            -214.9713319375404,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -682.556889440874,
+            -212.3732557261871,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -681.056889440874,
+            -209.77517951483378,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -679.556889440874,
+            -207.17710330348046,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -678.056889440874,
+            -204.57902709212715,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -676.556889440874,
+            -201.98095088077383,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -675.056889440874,
+            -199.38287466942052,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -673.556889440874,
+            -196.7847984580672,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -672.056889440874,
+            -194.18672224671388,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -670.556889440874,
+            -191.58864603536057,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -669.056889440874,
+            -188.99056982400725,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -667.556889440874,
+            -186.39249361265394,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -666.056889440874,
+            -183.79441740130062,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -664.556889440874,
+            -181.1963411899473,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -663.056889440874,
+            -178.598264978594,
+            -3.604535814115372
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -663.056889440874,
+            -178.598264978594,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -663.056889440874,
+            -175.598264978594,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -663.056889440874,
+            -172.598264978594,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -663.056889440874,
+            -169.598264978594,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -663.056889440874,
+            -166.598264978594,
+            -3.604535814115372
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -663.056889440874,
+            -163.598264978594,
+            -3.604535814115372
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -661.3270858764648,
+            -162.2898444366455,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-15-46_1760281936/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-15-46_1760281936/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d5b949e2ca061f460aa96b0c1e65ee4f8f7e0335
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-15-46_1760281936/pose.jsonl
@@ -0,0 +1,534 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -596.1259722705893,
+            195.13005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -598.7240484819426,
+            196.63005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -601.322124693296,
+            198.13005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -603.9202009046494,
+            199.63005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -606.5182771160028,
+            201.13005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -609.1163533273561,
+            202.63005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -611.7144295387095,
+            204.13005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -614.3125057500629,
+            205.63005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -616.9105819614163,
+            207.13005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -619.5086581727696,
+            208.63005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -622.106734384123,
+            210.13005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -624.7048105954764,
+            211.63005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -627.3028868068297,
+            213.13005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -629.9009630181831,
+            214.63005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -632.4990392295365,
+            216.13005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -635.0971154408899,
+            217.63005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -637.6951916522432,
+            219.13005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -640.2932678635966,
+            220.63005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -642.89134407495,
+            222.13005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -645.4894202863034,
+            223.63005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -648.0874964976567,
+            225.13005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -650.6855727090101,
+            226.63005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -653.2836489203635,
+            228.13005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -655.8817251317168,
+            229.63005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -658.4798013430702,
+            231.13005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -661.0778775544236,
+            232.63005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -663.675953765777,
+            234.13005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -666.2740299771303,
+            235.63005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -668.8721061884837,
+            237.13005390238064,
+            -2.124779877775725
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -668.8721061884837,
+            237.13005390238064,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -670.3721061884837,
+            239.72813011373395,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -671.8721061884837,
+            242.32620632508727,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -673.3721061884837,
+            244.9242825364406,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -674.8721061884837,
+            247.5223587477939,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -676.3721061884837,
+            250.12043495914722,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -677.8721061884837,
+            252.71851117050053,
+            -2.124779877775725
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -677.8721061884837,
+            252.71851117050053,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -680.4701823998371,
+            254.21851117050053,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -683.0682586111905,
+            255.71851117050053,
+            -2.124779877775725
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -685.6663348225438,
+            257.2185111705005,
+            -2.124779877775725
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -686.6680834960937,
+            258.1570868682861,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-2-40_327254586/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-2-40_327254586/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..43ce09ee186b177c2bf61e8b92b5db98297d2b46
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-2-40_327254586/pose.jsonl
@@ -0,0 +1,469 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -637.3066066012195,
+            158.73919142609589,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -638.8066066012195,
+            161.3372676374492,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -640.3066066012195,
+            163.93534384880252,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -641.8066066012195,
+            166.53342006015583,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -643.3066066012195,
+            169.13149627150915,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -644.8066066012195,
+            171.72957248286247,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -646.3066066012195,
+            174.32764869421578,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -647.8066066012195,
+            176.9257249055691,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -649.3066066012195,
+            179.5238011169224,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -650.8066066012195,
+            182.12187732827573,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -652.3066066012195,
+            184.71995353962905,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -653.8066066012195,
+            187.31802975098236,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -655.3066066012195,
+            189.91610596233568,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -656.8066066012195,
+            192.514182173689,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -658.3066066012195,
+            195.1122583850423,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -659.8066066012195,
+            197.71033459639563,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -661.3066066012195,
+            200.30841080774894,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -662.8066066012195,
+            202.90648701910226,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -664.3066066012195,
+            205.50456323045557,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -665.8066066012195,
+            208.1026394418089,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -667.3066066012195,
+            210.7007156531622,
+            -0.9028410128396498
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -667.3066066012195,
+            210.7007156531622,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -669.9046828125729,
+            212.2007156531622,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -672.5027590239263,
+            213.7007156531622,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -675.1008352352796,
+            215.2007156531622,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -677.698911446633,
+            216.7007156531622,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -680.2969876579864,
+            218.2007156531622,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -682.8950638693398,
+            219.7007156531622,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -685.4931400806931,
+            221.2007156531622,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -688.0912162920465,
+            222.7007156531622,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -690.6892925033999,
+            224.2007156531622,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -693.2873687147533,
+            225.7007156531622,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -695.8854449261066,
+            227.2007156531622,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -698.48352113746,
+            228.7007156531622,
+            -0.9028410128396498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -701.0815973488134,
+            230.2007156531622,
+            -0.9028410128396498
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -701.839137878418,
+            232.52609245300292,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-20-24_76065818/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-20-24_76065818/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e8941ca9b118110ff17f3b93b25e361943df0970
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-20-24_76065818/pose.jsonl
@@ -0,0 +1,430 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -738.0200025173132,
+            -0.06625883908144203,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -739.5200025173132,
+            2.531817372271874,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -741.0200025173132,
+            5.12989358362519,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -742.5200025173132,
+            7.727969794978506,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -744.0200025173132,
+            10.326046006331822,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -745.5200025173132,
+            12.924122217685138,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -747.0200025173132,
+            15.522198429038454,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -748.5200025173132,
+            18.12027464039177,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -750.0200025173132,
+            20.718350851745086,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -751.5200025173132,
+            23.316427063098402,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -753.0200025173132,
+            25.914503274451718,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -754.5200025173132,
+            28.512579485805034,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -756.0200025173132,
+            31.11065569715835,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -757.5200025173132,
+            33.708731908511666,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -759.0200025173132,
+            36.30680811986498,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -760.5200025173132,
+            38.9048843312183,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -762.0200025173132,
+            41.502960542571614,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -763.5200025173132,
+            44.10103675392493,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -765.0200025173132,
+            46.699112965278246,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -766.5200025173132,
+            49.29718917663156,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -768.0200025173132,
+            51.89526538798488,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -769.5200025173132,
+            54.493341599338194,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -771.0200025173132,
+            57.09141781069151,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -772.5200025173132,
+            59.689494022044826,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -774.0200025173132,
+            62.28757023339814,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -775.5200025173132,
+            64.88564644475146,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -777.0200025173132,
+            67.48372265610477,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -778.5200025173132,
+            70.08179886745809,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -780.0200025173132,
+            72.6798750788114,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -781.5200025173132,
+            75.27795129016472,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -783.0200025173132,
+            77.87602750151804,
+            -3.8844293572179325
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -784.5200025173132,
+            80.47410371287135,
+            -3.8844293572179325
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -785.9369680786133,
+            81.05284317016601,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-21-32_1875335928/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-21-32_1875335928/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b1497538406e6cb35f85aea1c2eee810aa4d2fa4
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-21-32_1875335928/pose.jsonl
@@ -0,0 +1,547 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -782.8556006590602,
+            44.96936104941485,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -780.2575244477068,
+            46.46936104941485,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -777.6594482363535,
+            47.96936104941485,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -775.0613720250001,
+            49.46936104941485,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -772.4632958136467,
+            50.96936104941485,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -769.8652196022933,
+            52.46936104941485,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -767.26714339094,
+            53.96936104941485,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -764.6690671795866,
+            55.46936104941485,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -762.0709909682332,
+            56.96936104941485,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -759.4729147568798,
+            58.46936104941485,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -756.8748385455265,
+            59.96936104941485,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -754.2767623341731,
+            61.46936104941485,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -751.6786861228197,
+            62.96936104941485,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -749.0806099114664,
+            64.46936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982874
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -746.482533700113,
+            65.96936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -743.8844574887596,
+            67.46936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -741.2863812774062,
+            68.96936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -738.6883050660529,
+            70.46936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -736.0902288546995,
+            71.96936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -733.4921526433461,
+            73.46936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -730.8940764319927,
+            74.96936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -728.2960002206394,
+            76.46936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -725.697924009286,
+            77.96936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -723.0998477979326,
+            79.46936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -720.5017715865793,
+            80.96936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -717.9036953752259,
+            82.46936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -715.3056191638725,
+            83.96936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -712.7075429525191,
+            85.46936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -710.1094667411658,
+            86.96936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -707.5113905298124,
+            88.46936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -704.913314318459,
+            89.96936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -702.3152381071056,
+            91.46936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -699.7171618957523,
+            92.96936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -697.1190856843989,
+            94.46936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -694.5210094730455,
+            95.96936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -691.9229332616922,
+            97.46936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -689.3248570503388,
+            98.96936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -686.7267808389854,
+            100.46936104941484,
+            -0.38214293478645
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -686.7267808389854,
+            100.46936104941484,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -685.2267808389854,
+            103.06743726076816,
+            -0.38214293478645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -683.7267808389854,
+            105.66551347212148,
+            -0.38214293478645
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -682.7478131103516,
+            107.50352409362793,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-23-22_1432114613/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-23-22_1432114613/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2bf337bff66315dfacf19d81c6a8e6e00a132219
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-23-22_1432114613/pose.jsonl
@@ -0,0 +1,482 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -442.93427445538356,
+            -344.8680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -440.33619824403024,
+            -343.3680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -437.7381220326769,
+            -341.8680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -435.1400458213236,
+            -340.3680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -432.5419696099703,
+            -338.8680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -429.943893398617,
+            -337.3680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -427.34581718726366,
+            -335.8680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -424.74774097591035,
+            -334.3680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -422.14966476455703,
+            -332.8680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -419.5515885532037,
+            -331.3680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -416.9535123418504,
+            -329.8680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -414.3554361304971,
+            -328.3680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -411.75735991914377,
+            -326.8680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -409.15928370779045,
+            -325.3680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -406.56120749643713,
+            -323.8680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -403.9631312850838,
+            -322.3680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -401.3650550737305,
+            -320.8680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -398.7669788623772,
+            -319.3680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -396.16890265102387,
+            -317.8680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -393.57082643967055,
+            -316.3680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -390.97275022831724,
+            -314.8680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -388.3746740169639,
+            -313.3680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -385.7765978056106,
+            -311.8680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -383.1785215942573,
+            -310.3680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -380.580445382904,
+            -308.8680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -377.98236917155066,
+            -307.3680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -375.38429296019734,
+            -305.8680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -372.786216748844,
+            -304.3680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -370.1881405374907,
+            -302.8680116427754,
+            -3.6223754898188494
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -370.1881405374907,
+            -302.8680116427754,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -368.6881405374907,
+            -300.2699354314221,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -367.1881405374907,
+            -297.67185922006877,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -365.6881405374907,
+            -295.07378300871545,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -364.1881405374907,
+            -292.47570679736214,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -362.6881405374907,
+            -289.8776305860088,
+            -3.6223754898188494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -361.1881405374907,
+            -287.2795543746555,
+            -3.6223754898188494
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -357.95375900268556,
+            -286.8376789855957,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-23-39_1067854538/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-23-39_1067854538/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b92e8008e089d1d3cd765ce5ace08324b8403169
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-23-39_1067854538/pose.jsonl
@@ -0,0 +1,456 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -633.7472320516762,
+            -253.93595376600967,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -635.2472320516762,
+            -251.33787755465636,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -636.7472320516762,
+            -248.73980134330304,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -638.2472320516762,
+            -246.14172513194973,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -639.7472320516762,
+            -243.5436489205964,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -641.2472320516762,
+            -240.9455727092431,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -642.7472320516762,
+            -238.34749649788978,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -644.2472320516762,
+            -235.74942028653646,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -645.7472320516762,
+            -233.15134407518315,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -647.2472320516762,
+            -230.55326786382983,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -648.7472320516762,
+            -227.95519165247651,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -650.2472320516762,
+            -225.3571154411232,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -651.7472320516762,
+            -222.75903922976988,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -653.2472320516762,
+            -220.16096301841657,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -654.7472320516762,
+            -217.56288680706325,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -656.2472320516762,
+            -214.96481059570993,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -657.7472320516762,
+            -212.36673438435662,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -659.2472320516762,
+            -209.7686581730033,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -660.7472320516762,
+            -207.17058196165,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -662.2472320516762,
+            -204.57250575029667,
+            -1.1614917191359577
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -662.2472320516762,
+            -204.57250575029667,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -662.2472320516762,
+            -201.57250575029667,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -662.2472320516762,
+            -198.57250575029667,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -662.2472320516762,
+            -195.57250575029667,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -662.2472320516762,
+            -192.57250575029667,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -662.2472320516762,
+            -189.57250575029667,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -662.2472320516762,
+            -186.57250575029667,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -662.2472320516762,
+            -183.57250575029667,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -662.2472320516762,
+            -180.57250575029667,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -662.2472320516762,
+            -177.57250575029667,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -662.2472320516762,
+            -174.57250575029667,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -662.2472320516762,
+            -171.57250575029667,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -662.2472320516762,
+            -168.57250575029667,
+            -1.1614917191359577
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -662.2472320516762,
+            -165.57250575029667,
+            -1.1614917191359577
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -661.3270858764648,
+            -162.2898444366455,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-23-3_2112255763/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-23-3_2112255763/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c9a0acd8b8e02ae1c695b0a426d8ab6a4f769800
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-23-3_2112255763/pose.jsonl
@@ -0,0 +1,534 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -565.3111014096961,
+            94.92281038363924,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -563.8111014096961,
+            97.52088659499256,
+            2.375828045198646
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -563.8111014096961,
+            97.52088659499256,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -561.2130251983428,
+            99.02088659499256,
+            2.375828045198646
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -561.2130251983428,
+            99.02088659499256,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -559.7130251983428,
+            101.61896280634588,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -558.2130251983428,
+            104.2170390176992,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -556.7130251983428,
+            106.81511522905251,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -555.2130251983428,
+            109.41319144040583,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -553.7130251983428,
+            112.01126765175914,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -552.2130251983428,
+            114.60934386311246,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -550.7130251983428,
+            117.20742007446577,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -549.2130251983428,
+            119.80549628581909,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -547.7130251983428,
+            122.4035724971724,
+            2.375828045198646
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -547.7130251983428,
+            122.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -547.7130251983428,
+            125.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -547.7130251983428,
+            128.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -547.7130251983428,
+            131.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -547.7130251983428,
+            134.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -547.7130251983428,
+            137.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -547.7130251983428,
+            140.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -547.7130251983428,
+            143.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -547.7130251983428,
+            146.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -547.7130251983428,
+            149.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -547.7130251983428,
+            152.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -547.7130251983428,
+            155.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -547.7130251983428,
+            158.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -547.7130251983428,
+            161.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -547.7130251983428,
+            164.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -547.7130251983428,
+            167.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -547.7130251983428,
+            170.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -547.7130251983428,
+            173.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -547.7130251983428,
+            176.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -547.7130251983428,
+            179.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -547.7130251983428,
+            182.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -547.7130251983428,
+            185.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -547.7130251983428,
+            188.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -547.7130251983428,
+            191.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -547.7130251983428,
+            194.4035724971724,
+            2.375828045198646
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -547.7130251983428,
+            197.4035724971724,
+            2.375828045198646
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -547.9009985351562,
+            200.65022193908692,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-26-1_492067917/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-26-1_492067917/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6f7f2643d40acb0529c39591198e297a09b2d742
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-26-1_492067917/pose.jsonl
@@ -0,0 +1,482 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -992.31716517809,
+            161.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -992.31716517809,
+            164.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -992.31716517809,
+            167.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -992.31716517809,
+            170.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -992.31716517809,
+            173.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -992.31716517809,
+            176.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -992.31716517809,
+            179.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -992.31716517809,
+            182.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -992.31716517809,
+            185.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -992.31716517809,
+            188.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -992.31716517809,
+            191.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -992.31716517809,
+            194.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -992.31716517809,
+            197.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -992.31716517809,
+            200.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -992.31716517809,
+            203.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -992.31716517809,
+            206.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -992.31716517809,
+            209.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -992.31716517809,
+            212.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -992.31716517809,
+            215.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -992.31716517809,
+            218.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -992.31716517809,
+            221.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -992.31716517809,
+            224.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -992.31716517809,
+            227.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -992.31716517809,
+            230.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -992.31716517809,
+            233.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -992.31716517809,
+            236.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -992.31716517809,
+            239.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -992.31716517809,
+            242.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -992.31716517809,
+            245.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -992.31716517809,
+            248.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -992.31716517809,
+            248.1202535571366,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -993.81716517809,
+            250.71832976848992,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -995.31716517809,
+            253.31640597984324,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -996.81716517809,
+            255.91448219119656,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -998.31716517809,
+            258.51255840254987,
+            -0.2554419998324766
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -999.81716517809,
+            261.1106346139032,
+            -0.2554419998324766
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1002.9734149169922,
+            277.3824105834961,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-27-31_159259470/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-27-31_159259470/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7e61a29f979626280ece3e62dea195ba49d8dc97
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-27-31_159259470/pose.jsonl
@@ -0,0 +1,456 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -402.0564421223107,
+            492.1196390049553,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -400.5564421223107,
+            494.7177152163086,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -399.0564421223107,
+            497.3157914276619,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -397.5564421223107,
+            499.9138676390152,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -396.0564421223107,
+            502.51194385036854,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -394.5564421223107,
+            505.11002006172185,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -393.0564421223107,
+            507.70809627307517,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -391.5564421223107,
+            510.3061724844285,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -390.0564421223107,
+            512.9042486957818,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -388.5564421223107,
+            515.5023249071351,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -387.0564421223107,
+            518.1004011184884,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -385.5564421223107,
+            520.6984773298418,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -384.0564421223107,
+            523.2965535411952,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -382.5564421223107,
+            525.8946297525486,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -381.0564421223107,
+            528.4927059639019,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -379.5564421223107,
+            531.0907821752553,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -378.0564421223107,
+            533.6888583866087,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -376.5564421223107,
+            536.286934597962,
+            -1.895944508060723
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -376.5564421223107,
+            536.286934597962,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -373.9583659109574,
+            537.786934597962,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -371.3602896996041,
+            539.286934597962,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -368.7622134882508,
+            540.786934597962,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -366.16413727689746,
+            542.286934597962,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -363.56606106554415,
+            543.786934597962,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -360.96798485419083,
+            545.286934597962,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -358.3699086428375,
+            546.786934597962,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -355.7718324314842,
+            548.286934597962,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -353.1737562201309,
+            549.786934597962,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -350.57568000877757,
+            551.286934597962,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -347.97760379742425,
+            552.786934597962,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -345.37952758607094,
+            554.286934597962,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -342.7814513747176,
+            555.786934597962,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -340.1833751633643,
+            557.286934597962,
+            -1.895944508060723
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -337.585298952011,
+            558.786934597962,
+            -1.895944508060723
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -335.0891884613037,
+            561.9170278930663,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-27-48_1359512183/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-27-48_1359512183/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..005876b0a18607634257f1c6e7877d27cf10c812
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-27-48_1359512183/pose.jsonl
@@ -0,0 +1,482 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            134.55193336250545,
+            725.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            137.55193336250545,
+            725.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            140.55193336250545,
+            725.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            143.55193336250545,
+            725.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            146.55193336250545,
+            725.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            149.55193336250545,
+            725.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            152.55193336250545,
+            725.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            155.55193336250545,
+            725.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            158.55193336250545,
+            725.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            161.55193336250545,
+            725.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            164.55193336250545,
+            725.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            167.55193336250545,
+            725.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            170.55193336250545,
+            725.7804972344495,
+            2.367052482579016
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            170.55193336250545,
+            725.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            173.15000957385877,
+            724.2804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            175.74808578521208,
+            722.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            178.3461619965654,
+            721.2804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            180.94423820791872,
+            719.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            183.54231441927203,
+            718.2804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            186.14039063062535,
+            716.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            188.73846684197866,
+            715.2804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            191.33654305333198,
+            713.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            193.9346192646853,
+            712.2804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            196.5326954760386,
+            710.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            199.13077168739193,
+            709.2804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            201.72884789874524,
+            707.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            204.32692411009856,
+            706.2804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            206.92500032145188,
+            704.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            209.5230765328052,
+            703.2804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            212.1211527441585,
+            701.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            214.71922895551182,
+            700.2804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            217.31730516686514,
+            698.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            219.91538137821846,
+            697.2804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            222.51345758957177,
+            695.7804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            225.1115338009251,
+            694.2804972344495,
+            2.367052482579016
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            227.7096100122784,
+            692.7804972344495,
+            2.367052482579016
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            229.7172834777832,
+            692.2608906555175,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-30-51_1272469786/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-30-51_1272469786/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7754406611beb70849f37fb6df2caaa2ffef87c7
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-30-51_1272469786/pose.jsonl
@@ -0,0 +1,547 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -47.43765681045166,
+            84.9289936125299,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -45.93765681045166,
+            87.52706982388321,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -44.43765681045166,
+            90.12514603523653,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -42.93765681045166,
+            92.72322224658984,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -41.43765681045166,
+            95.32129845794316,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -39.93765681045166,
+            97.91937466929647,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -38.43765681045166,
+            100.51745088064979,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -36.93765681045166,
+            103.1155270920031,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -35.43765681045166,
+            105.71360330335642,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -33.93765681045166,
+            108.31167951470974,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -32.43765681045166,
+            110.90975572606305,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -30.937656810451656,
+            113.50783193741637,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -29.437656810451656,
+            116.10590814876969,
+            -0.3873591368603275
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -29.437656810451656,
+            116.10590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -26.83958059909834,
+            117.60590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -24.241504387745024,
+            119.10590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -21.64342817639171,
+            120.60590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -19.045351965038392,
+            122.10590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -16.447275753685076,
+            123.60590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -13.84919954233176,
+            125.10590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -11.251123330978444,
+            126.60590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -8.653047119625128,
+            128.10590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -6.054970908271812,
+            129.60590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -3.4568946969184964,
+            131.10590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -0.8588184855651804,
+            132.60590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1.7392577257881356,
+            134.10590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            4.337333937141452,
+            135.60590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            6.935410148494768,
+            137.10590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            9.533486359848084,
+            138.60590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            12.1315625712014,
+            140.10590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            14.729638782554716,
+            141.60590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            17.32771499390803,
+            143.10590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            19.925791205261348,
+            144.60590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            22.523867416614664,
+            146.10590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            25.12194362796798,
+            147.60590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            27.720019839321296,
+            149.10590814876969,
+            -0.3873591368603275
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            27.720019839321296,
+            149.10590814876969,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            29.220019839321296,
+            151.703984360123,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            30.720019839321296,
+            154.30206057147632,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            32.220019839321296,
+            156.90013678282963,
+            -0.3873591368603275
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            33.720019839321296,
+            159.49821299418295,
+            -0.3873591368603275
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            36.64368785858154,
+            161.94002262115478,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-31-11_2027907669/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-31-11_2027907669/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..362463f0a7d593d99cb5fe32e69d79b405404024
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-31-11_2027907669/pose.jsonl
@@ -0,0 +1,547 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -792.1365228042264,
+            165.67511541180625,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -789.538446592873,
+            167.17511541180625,
+            3.35433936369191
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -789.538446592873,
+            167.17511541180625,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -788.038446592873,
+            169.77319162315956,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -786.538446592873,
+            172.37126783451288,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -785.038446592873,
+            174.9693440458662,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -783.538446592873,
+            177.5674202572195,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -782.038446592873,
+            180.16549646857283,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -780.538446592873,
+            182.76357267992614,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -779.038446592873,
+            185.36164889127946,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -777.538446592873,
+            187.95972510263277,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -776.038446592873,
+            190.5578013139861,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -774.538446592873,
+            193.1558775253394,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -773.038446592873,
+            195.75395373669272,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -771.538446592873,
+            198.35202994804604,
+            3.35433936369191
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -771.538446592873,
+            198.35202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -768.9403703815196,
+            199.85202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -766.3422941701663,
+            201.35202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -763.7442179588129,
+            202.85202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -761.1461417474595,
+            204.35202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -758.5480655361062,
+            205.85202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -755.9499893247528,
+            207.35202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -753.3519131133994,
+            208.85202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -750.753836902046,
+            210.35202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -748.1557606906927,
+            211.85202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -745.5576844793393,
+            213.35202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -742.9596082679859,
+            214.85202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -740.3615320566325,
+            216.35202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -737.7634558452792,
+            217.85202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -735.1653796339258,
+            219.35202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -732.5673034225724,
+            220.85202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -729.969227211219,
+            222.35202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -727.3711509998657,
+            223.85202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -724.7730747885123,
+            225.35202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -722.1749985771589,
+            226.85202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -719.5769223658056,
+            228.35202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -716.9788461544522,
+            229.85202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -714.3807699430988,
+            231.35202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -711.7826937317454,
+            232.85202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -709.1846175203921,
+            234.35202994804604,
+            3.35433936369191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -706.5865413090387,
+            235.85202994804604,
+            3.35433936369191
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -707.2679043579102,
+            238.37122535705566,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-31-30_968338082/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-31-30_968338082/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..823e9b8ab9a1f792d8cae1b134e9095e53d406e8
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-31-30_968338082/pose.jsonl
@@ -0,0 +1,547 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -460.9299861296125,
+            709.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -457.9299861296125,
+            709.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -454.9299861296125,
+            709.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -451.9299861296125,
+            709.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -448.9299861296125,
+            709.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -445.9299861296125,
+            709.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -442.9299861296125,
+            709.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -439.9299861296125,
+            709.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -436.9299861296125,
+            709.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -433.9299861296125,
+            709.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -430.9299861296125,
+            709.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -427.9299861296125,
+            709.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -424.9299861296125,
+            709.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -421.9299861296125,
+            709.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -418.9299861296125,
+            709.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -415.9299861296125,
+            709.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -412.9299861296125,
+            709.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -409.9299861296125,
+            709.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -406.9299861296125,
+            709.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -403.9299861296125,
+            709.564283949082,
+            -3.386890603139548
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -403.9299861296125,
+            709.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -401.33190991825916,
+            711.064283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -398.73383370690584,
+            712.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -396.1357574955525,
+            714.064283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -393.5376812841992,
+            715.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -390.9396050728459,
+            717.064283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -388.3415288614926,
+            718.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -385.74345265013926,
+            720.064283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -383.14537643878595,
+            721.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -380.54730022743263,
+            723.064283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -377.9492240160793,
+            724.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -375.351147804726,
+            726.064283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -372.7530715933727,
+            727.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -370.15499538201937,
+            729.064283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -367.55691917066605,
+            730.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -364.95884295931273,
+            732.064283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -362.3607667479594,
+            733.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -359.7626905366061,
+            735.064283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -357.1646143252528,
+            736.564283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -354.56653811389947,
+            738.064283949082,
+            -3.386890603139548
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -351.96846190254615,
+            739.564283949082,
+            -3.386890603139548
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -349.92333297729493,
+            742.416524963379,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-33-26_1285228804/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-33-26_1285228804/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cd9a759862819e03295f49ab57af85ed959bea74
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-33-26_1285228804/pose.jsonl
@@ -0,0 +1,456 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            440.25790468749494,
+            -24.68246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            437.6598284761416,
+            -26.18246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            435.0617522647883,
+            -27.68246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            432.463676053435,
+            -29.18246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            429.8655998420817,
+            -30.68246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            427.26752363072836,
+            -32.18246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            424.66944741937505,
+            -33.68246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            422.07137120802173,
+            -35.18246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            419.4732949966684,
+            -36.68246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            416.8752187853151,
+            -38.18246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            414.2771425739618,
+            -39.68246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            411.67906636260847,
+            -41.18246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            409.08099015125515,
+            -42.68246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            406.48291393990183,
+            -44.18246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            403.8848377285485,
+            -45.68246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            401.2867615171952,
+            -47.18246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            398.6886853058419,
+            -48.68246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            396.09060909448857,
+            -50.18246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            393.49253288313525,
+            -51.68246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            390.89445667178194,
+            -53.18246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            388.2963804604286,
+            -54.68246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            385.6983042490753,
+            -56.18246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            383.100228037722,
+            -57.68246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            380.5021518263687,
+            -59.18246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            377.90407561501536,
+            -60.68246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            375.30599940366204,
+            -62.18246232875864,
+            -4.91775122875641
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            375.30599940366204,
+            -62.18246232875864,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            373.80599940366204,
+            -64.78053854011196,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            372.30599940366204,
+            -67.37861475146528,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            370.80599940366204,
+            -69.9766909628186,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            369.30599940366204,
+            -72.57476717417191,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            367.80599940366204,
+            -75.17284338552523,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            366.30599940366204,
+            -77.77091959687854,
+            -4.91775122875641
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            364.80599940366204,
+            -80.36899580823186,
+            -4.91775122875641
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            361.61789932250974,
+            -80.46325607299805,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-33-7_740759355/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-33-7_740759355/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3b9feb84b6514f02e6021133027209621cdd0bb9
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-33-7_740759355/pose.jsonl
@@ -0,0 +1,547 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -828.3362950635892,
+            169.21464031926635,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -825.3362950635892,
+            169.21464031926635,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -822.3362950635892,
+            169.21464031926635,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -819.3362950635892,
+            169.21464031926635,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -816.3362950635892,
+            169.21464031926635,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -813.3362950635892,
+            169.21464031926635,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -810.3362950635892,
+            169.21464031926635,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -807.3362950635892,
+            169.21464031926635,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -804.3362950635892,
+            169.21464031926635,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -801.3362950635892,
+            169.21464031926635,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -798.3362950635892,
+            169.21464031926635,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -795.3362950635892,
+            169.21464031926635,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -792.3362950635892,
+            169.21464031926635,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -789.3362950635892,
+            169.21464031926635,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -786.3362950635892,
+            169.21464031926635,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -783.3362950635892,
+            169.21464031926635,
+            -3.18547553715979
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -783.3362950635892,
+            169.21464031926635,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -780.7382188522358,
+            167.71464031926635,
+            -3.18547553715979
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -780.7382188522358,
+            167.71464031926635,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -779.2382188522358,
+            165.11656410791304,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -777.7382188522358,
+            162.51848789655972,
+            -3.18547553715979
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -777.7382188522358,
+            162.51848789655972,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -775.1401426408825,
+            161.01848789655972,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -772.5420664295291,
+            159.51848789655972,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -769.9439902181757,
+            158.01848789655972,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -767.3459140068223,
+            156.51848789655972,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -764.747837795469,
+            155.01848789655972,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -762.1497615841156,
+            153.51848789655972,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -759.5516853727622,
+            152.01848789655972,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -756.9536091614088,
+            150.51848789655972,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -754.3555329500555,
+            149.01848789655972,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -751.7574567387021,
+            147.51848789655972,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -749.1593805273487,
+            146.01848789655972,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -746.5613043159954,
+            144.51848789655972,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -743.963228104642,
+            143.01848789655972,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -741.3651518932886,
+            141.51848789655972,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -738.7670756819352,
+            140.01848789655972,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -736.1689994705819,
+            138.51848789655972,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -733.5709232592285,
+            137.01848789655972,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -730.9728470478751,
+            135.51848789655972,
+            -3.18547553715979
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -728.3747708365217,
+            134.01848789655972,
+            -3.18547553715979
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -726.8706622314453,
+            130.96456672668458,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-34-38_1037127828/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-34-38_1037127828/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ab1449a00ca65b7722700c51f139bcef5f6a333c
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-34-38_1037127828/pose.jsonl
@@ -0,0 +1,430 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -881.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -878.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -875.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -872.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -869.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -866.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -863.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -860.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -857.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -854.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -851.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -848.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -845.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -842.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -839.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -836.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -833.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -830.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -827.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -824.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -821.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -818.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -815.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -812.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -809.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -806.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -803.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -800.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -797.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -794.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -791.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -788.4009817363243,
+            78.59911638081707,
+            -3.6881856177019956
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -785.9369680786133,
+            81.05284317016601,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-38-10_396473730/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-38-10_396473730/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..334d8bcfb07ccfd24b6080590e851c55d857851e
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-38-10_396473730/pose.jsonl
@@ -0,0 +1,521 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -584.4805060907269,
+            343.9995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -587.0785823020801,
+            342.4995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -589.6766585134335,
+            340.9995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -592.2747347247869,
+            339.4995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -594.8728109361402,
+            337.9995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -597.4708871474936,
+            336.4995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -600.068963358847,
+            334.9995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -602.6670395702004,
+            333.4995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -605.2651157815537,
+            331.9995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -607.8631919929071,
+            330.4995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -610.4612682042605,
+            328.9995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -613.0593444156139,
+            327.4995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -615.6574206269672,
+            325.9995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -618.2554968383206,
+            324.4995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -620.853573049674,
+            322.9995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -623.4516492610273,
+            321.4995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -626.0497254723807,
+            319.9995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -628.6478016837341,
+            318.4995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -631.2458778950875,
+            316.9995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -633.8439541064408,
+            315.4995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -636.4420303177942,
+            313.9995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -639.0401065291476,
+            312.4995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -641.638182740501,
+            310.9995849273944,
+            3.0931723420519006
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -641.638182740501,
+            310.9995849273944,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -643.138182740501,
+            308.40150871604106,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -644.638182740501,
+            305.80343250468775,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -646.138182740501,
+            303.20535629333443,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -647.638182740501,
+            300.6072800819811,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -649.138182740501,
+            298.0092038706278,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -650.638182740501,
+            295.4111276592745,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -652.138182740501,
+            292.81305144792117,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -653.638182740501,
+            290.21497523656785,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -655.138182740501,
+            287.61689902521454,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -656.638182740501,
+            285.0188228138612,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -658.138182740501,
+            282.4207466025079,
+            3.0931723420519006
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -658.138182740501,
+            282.4207466025079,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -660.7362589518543,
+            280.9207466025079,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -663.3343351632077,
+            279.4207466025079,
+            3.0931723420519006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -665.9324113745611,
+            277.9207466025079,
+            3.0931723420519006
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -669.1686190795898,
+            276.07490257263186,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-38-47_1346811305/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-38-47_1346811305/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..04f3191ad9726fac206138b9e3dcbeda41ea7f8c
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-38-47_1346811305/pose.jsonl
@@ -0,0 +1,521 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -762.4693067486547,
+            161.3730626841845,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -759.8712305373015,
+            162.8730626841845,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -757.2731543259481,
+            164.3730626841845,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -754.6750781145947,
+            165.8730626841845,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -752.0770019032414,
+            167.3730626841845,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -749.478925691888,
+            168.8730626841845,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -746.8808494805346,
+            170.3730626841845,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -744.2827732691812,
+            171.8730626841845,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -741.6846970578279,
+            173.3730626841845,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -739.0866208464745,
+            174.8730626841845,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -736.4885446351211,
+            176.3730626841845,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -733.8904684237677,
+            177.8730626841845,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -731.2923922124144,
+            179.3730626841845,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -728.694316001061,
+            180.8730626841845,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -726.0962397897076,
+            182.3730626841845,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -723.4981635783543,
+            183.8730626841845,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -720.9000873670009,
+            185.3730626841845,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -718.3020111556475,
+            186.8730626841845,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -715.7039349442941,
+            188.3730626841845,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -713.1058587329408,
+            189.8730626841845,
+            -0.2527881093398907
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -713.1058587329408,
+            189.8730626841845,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -711.6058587329408,
+            192.47113889553782,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -710.1058587329408,
+            195.06921510689114,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -708.6058587329408,
+            197.66729131824445,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -707.1058587329408,
+            200.26536752959777,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -705.6058587329408,
+            202.86344374095108,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -704.1058587329408,
+            205.4615199523044,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -702.6058587329408,
+            208.05959616365772,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -701.1058587329408,
+            210.65767237501103,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -699.6058587329408,
+            213.25574858636435,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -698.1058587329408,
+            215.85382479771766,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -696.6058587329408,
+            218.45190100907098,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -695.1058587329408,
+            221.0499772204243,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -693.6058587329408,
+            223.6480534317776,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -692.1058587329408,
+            226.24612964313093,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -690.6058587329408,
+            228.84420585448424,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -689.1058587329408,
+            231.44228206583756,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -687.6058587329408,
+            234.04035827719088,
+            -0.2527881093398907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -686.1058587329408,
+            236.6384344885442,
+            -0.2527881093398907
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -684.7201055908203,
+            237.53857521057128,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-4-17_160051528/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-4-17_160051528/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fde5a5331f799985fbb49fe1b145b4de0de0ba1b
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-4-17_160051528/pose.jsonl
@@ -0,0 +1,482 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -771.0430533408621,
+            202.44999423924932,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -768.0430533408621,
+            202.44999423924932,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -765.0430533408621,
+            202.44999423924932,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -762.0430533408621,
+            202.44999423924932,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -759.0430533408621,
+            202.44999423924932,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -756.0430533408621,
+            202.44999423924932,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -753.0430533408621,
+            202.44999423924932,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -750.0430533408621,
+            202.44999423924932,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -747.0430533408621,
+            202.44999423924932,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -744.0430533408621,
+            202.44999423924932,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -741.0430533408621,
+            202.44999423924932,
+            -4.152408952029721
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -741.0430533408621,
+            202.44999423924932,
+            -4.152408952029721
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -741.0430533408621,
+            202.44999423924932,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -739.5430533408621,
+            205.04807045060264,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -738.0430533408621,
+            207.64614666195595,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -736.5430533408621,
+            210.24422287330927,
+            -4.152408952029721
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -736.5430533408621,
+            210.24422287330927,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -733.9449771295087,
+            211.74422287330927,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -731.3469009181554,
+            213.24422287330927,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -728.748824706802,
+            214.74422287330927,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -726.1507484954486,
+            216.24422287330927,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -723.5526722840953,
+            217.74422287330927,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -720.9545960727419,
+            219.24422287330927,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -718.3565198613885,
+            220.74422287330927,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -715.7584436500351,
+            222.24422287330927,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -713.1603674386818,
+            223.74422287330927,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -710.5622912273284,
+            225.24422287330927,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -707.964215015975,
+            226.74422287330927,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -705.3661388046216,
+            228.24422287330927,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -702.7680625932683,
+            229.74422287330927,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -700.1699863819149,
+            231.24422287330927,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -697.5719101705615,
+            232.74422287330927,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -694.9738339592082,
+            234.24422287330927,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -692.3757577478548,
+            235.74422287330927,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -689.7776815365014,
+            237.24422287330927,
+            -4.152408952029721
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -687.179605325148,
+            238.74422287330927,
+            -4.152408952029721
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -684.7201055908203,
+            237.53857521057128,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-40-53_1402586708/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-40-53_1402586708/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..204ac9aeb956f75184b85050b92baa893d84611e
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-40-53_1402586708/pose.jsonl
@@ -0,0 +1,534 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            210.36213083499757,
+            730.5650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            212.9602070463509,
+            729.0650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            215.5582832577042,
+            727.5650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            218.15635946905752,
+            726.0650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            220.75443568041084,
+            724.5650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            223.35251189176415,
+            723.0650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            225.95058810311747,
+            721.5650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            228.54866431447078,
+            720.0650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            231.1467405258241,
+            718.5650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            233.74481673717742,
+            717.0650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            236.34289294853073,
+            715.5650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            238.94096915988405,
+            714.0650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            241.53904537123736,
+            712.5650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            244.13712158259068,
+            711.0650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            246.735197793944,
+            709.5650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            249.3332740052973,
+            708.0650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            251.93135021665063,
+            706.5650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            254.52942642800394,
+            705.0650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            257.12750263935726,
+            703.5650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            259.7255788507106,
+            702.0650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            262.3236550620639,
+            700.5650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            264.9217312734172,
+            699.0650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            267.5198074847705,
+            697.5650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            270.11788369612384,
+            696.0650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            272.71595990747716,
+            694.5650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            275.3140361188305,
+            693.0650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            277.9121123301838,
+            691.5650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            280.5101885415371,
+            690.0650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            283.1082647528904,
+            688.5650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            285.70634096424374,
+            687.0650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            288.30441717559705,
+            685.5650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            290.90249338695037,
+            684.0650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            293.5005695983037,
+            682.5650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            296.098645809657,
+            681.0650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            298.6967220210103,
+            679.5650374814455,
+            1.5621270747885996
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            298.6967220210103,
+            679.5650374814455,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            300.1967220210103,
+            676.9669612700923,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            301.6967220210103,
+            674.3688850587389,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            303.1967220210103,
+            671.7708088473855,
+            1.5621270747885996
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            304.6967220210103,
+            669.1727326360322,
+            1.5621270747885996
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            307.503537902832,
+            668.8986363220215,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-43-47_1238433452/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-43-47_1238433452/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f02ff2cf758648855fa2b8cdc0b89dd1cab932fb
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-43-47_1238433452/pose.jsonl
@@ -0,0 +1,508 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -257.9619393049155,
+            -494.80282933959245,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -259.4619393049155,
+            -492.20475312823913,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -260.9619393049155,
+            -489.6066769168858,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -262.4619393049155,
+            -487.0086007055325,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -263.9619393049155,
+            -484.4105244941792,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -265.4619393049155,
+            -481.81244828282587,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -266.9619393049155,
+            -479.21437207147255,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -268.4619393049155,
+            -476.61629586011924,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -269.9619393049155,
+            -474.0182196487659,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -271.4619393049155,
+            -471.4201434374126,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -272.9619393049155,
+            -468.8220672260593,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -274.4619393049155,
+            -466.223991014706,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -275.9619393049155,
+            -463.62591480335266,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -277.4619393049155,
+            -461.02783859199934,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -278.9619393049155,
+            -458.429762380646,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -280.4619393049155,
+            -455.8316861692927,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -281.9619393049155,
+            -453.2336099579394,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -283.4619393049155,
+            -450.6355337465861,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -284.9619393049155,
+            -448.03745753523276,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -286.4619393049155,
+            -445.43938132387945,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -287.9619393049155,
+            -442.84130511252613,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -289.4619393049155,
+            -440.2432289011728,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -290.9619393049155,
+            -437.6451526898195,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -292.4619393049155,
+            -435.0470764784662,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -293.9619393049155,
+            -432.44900026711287,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -295.4619393049155,
+            -429.85092405575955,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -296.9619393049155,
+            -427.25284784440623,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -298.4619393049155,
+            -424.6547716330529,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -299.9619393049155,
+            -422.0566954216996,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -301.4619393049155,
+            -419.4586192103463,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -302.9619393049155,
+            -416.86054299899297,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -304.4619393049155,
+            -414.26246678763965,
+            4.711005373116167
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -304.4619393049155,
+            -414.26246678763965,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -307.06001551626883,
+            -412.76246678763965,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -309.65809172762215,
+            -411.26246678763965,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -312.25616793897547,
+            -409.76246678763965,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -314.8542441503288,
+            -408.26246678763965,
+            4.711005373116167
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -317.4523203616821,
+            -406.76246678763965,
+            4.711005373116167
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -319.6267106628418,
+            -403.69195602416994,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-45-17_619290071/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-45-17_619290071/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..22ecbcdd08e47d72f10fc2539dcb1946878beac9
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-45-17_619290071/pose.jsonl
@@ -0,0 +1,495 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -929.9334264409551,
+            203.430721288673,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -931.4334264409551,
+            206.02879750002631,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -932.9334264409551,
+            208.62687371137963,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -934.4334264409551,
+            211.22494992273295,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -935.9334264409551,
+            213.82302613408626,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -937.4334264409551,
+            216.42110234543958,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -938.9334264409551,
+            219.0191785567929,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -940.4334264409551,
+            221.6172547681462,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -941.9334264409551,
+            224.21533097949953,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -943.4334264409551,
+            226.81340719085284,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -944.9334264409551,
+            229.41148340220616,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -946.4334264409551,
+            232.00955961355947,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -947.9334264409551,
+            234.6076358249128,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -949.4334264409551,
+            237.2057120362661,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -950.9334264409551,
+            239.80378824761942,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -952.4334264409551,
+            242.40186445897274,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -953.9334264409551,
+            244.99994067032605,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -955.4334264409551,
+            247.59801688167937,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -956.9334264409551,
+            250.1960930930327,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -958.4334264409551,
+            252.794169304386,
+            2.8785662809640673
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -958.4334264409551,
+            252.794169304386,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -961.0315026523085,
+            254.294169304386,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -963.6295788636619,
+            255.794169304386,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -966.2276550750153,
+            257.294169304386,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -968.8257312863686,
+            258.794169304386,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -971.423807497722,
+            260.294169304386,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -974.0218837090754,
+            261.794169304386,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -976.6199599204288,
+            263.294169304386,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -979.2180361317821,
+            264.794169304386,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -981.8161123431355,
+            266.294169304386,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -984.4141885544889,
+            267.794169304386,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -987.0122647658422,
+            269.294169304386,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -989.6103409771956,
+            270.794169304386,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -992.208417188549,
+            272.294169304386,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -994.8064933999024,
+            273.794169304386,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -997.4045696112557,
+            275.294169304386,
+            2.8785662809640673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1000.0026458226091,
+            276.794169304386,
+            2.8785662809640673
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1002.9734149169922,
+            277.3824105834961,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-46-33_7684930/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-46-33_7684930/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1516154d926d771f51933fd6a2e246d0a4b4d69b
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-46-33_7684930/pose.jsonl
@@ -0,0 +1,183 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            475.5735501256946,
+            329.46366678633206,
+            -4.246208555566779
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            477.0735501256946,
+            332.06174299768537,
+            -4.246208555566779
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            478.5735501256946,
+            334.6598192090387,
+            -4.246208555566779
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            480.0735501256946,
+            337.257895420392,
+            -4.246208555566779
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            481.5735501256946,
+            339.8559716317453,
+            -4.246208555566779
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            483.0735501256946,
+            342.45404784309864,
+            -4.246208555566779
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            483.0735501256946,
+            342.45404784309864,
+            -4.246208555566779
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            485.67162633704794,
+            343.95404784309864,
+            -4.246208555566779
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            488.26970254840126,
+            345.45404784309864,
+            -4.246208555566779
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            490.8677787597546,
+            346.95404784309864,
+            -4.246208555566779
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            493.4658549711079,
+            348.45404784309864,
+            -4.246208555566779
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            496.0639311824612,
+            349.95404784309864,
+            -4.246208555566779
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            498.6620073938145,
+            351.45404784309864,
+            -4.246208555566779
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            560.3580831909179,
+            412.7992530822754,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-47-59_2058657199/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-47-59_2058657199/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3d1a0285db9c82fe337bbc40628b9f52123f015d
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-47-59_2058657199/pose.jsonl
@@ -0,0 +1,482 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            392.0693697946789,
+            -36.46939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            394.6674460060322,
+            -34.96939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            397.2655222173855,
+            -33.46939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            399.86359842873884,
+            -31.96939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            402.46167464009216,
+            -30.46939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            405.0597508514455,
+            -28.96939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            407.6578270627988,
+            -27.46939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            410.2559032741521,
+            -25.96939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            412.8539794855054,
+            -24.46939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            415.45205569685874,
+            -22.96939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            418.05013190821205,
+            -21.46939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            420.64820811956537,
+            -19.96939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            423.2462843309187,
+            -18.46939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            425.844360542272,
+            -16.96939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            428.4424367536253,
+            -15.46939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            431.04051296497863,
+            -13.96939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            433.63858917633195,
+            -12.46939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            436.23666538768526,
+            -10.96939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            438.8347415990386,
+            -9.46939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            441.4328178103919,
+            -7.96939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            444.0308940217452,
+            -6.46939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            446.6289702330985,
+            -4.96939133348863,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            449.22704644445184,
+            -3.4693913334886304,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            451.82512265580516,
+            -1.9693913334886306,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            454.4231988671585,
+            -0.4693913334886308,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            457.0212750785118,
+            1.030608666511369,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            459.6193512898651,
+            2.5306086665113687,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            462.2174275012184,
+            4.030608666511369,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            464.81550371257174,
+            5.530608666511369,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            467.41357992392506,
+            7.030608666511369,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            470.0116561352784,
+            8.530608666511368,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982986
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            472.6097323466317,
+            10.030608666511368,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            475.207808557985,
+            11.530608666511368,
+            0.5962812451446267
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            475.207808557985,
+            11.530608666511368,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            476.707808557985,
+            14.128684877864684,
+            0.5962812451446267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            478.207808557985,
+            16.726761089218,
+            0.5962812451446267
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            481.2035136413574,
+            19.23793586730957,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-51-5_437116466/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-51-5_437116466/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f96686eaba6a2b14d9e4fa1cb4bed4cb504da4d1
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-51-5_437116466/pose.jsonl
@@ -0,0 +1,391 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -716.6405075657126,
+            356.75371135202147,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -719.238583777066,
+            355.25371135202147,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -721.8366599884193,
+            353.75371135202147,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -724.4347361997727,
+            352.25371135202147,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -727.0328124111261,
+            350.75371135202147,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -729.6308886224795,
+            349.25371135202147,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -732.2289648338328,
+            347.75371135202147,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -734.8270410451862,
+            346.25371135202147,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -737.4251172565396,
+            344.75371135202147,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -740.023193467893,
+            343.25371135202147,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -742.6212696792463,
+            341.75371135202147,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -745.2193458905997,
+            340.25371135202147,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -747.8174221019531,
+            338.75371135202147,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -750.4154983133064,
+            337.25371135202147,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -753.0135745246598,
+            335.75371135202147,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -755.6116507360132,
+            334.25371135202147,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -758.2097269473666,
+            332.75371135202147,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -760.8078031587199,
+            331.25371135202147,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -763.4058793700733,
+            329.75371135202147,
+            4.964767589439855
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -763.4058793700733,
+            329.75371135202147,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -764.9058793700733,
+            327.15563514066815,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -766.4058793700733,
+            324.55755892931484,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -767.9058793700733,
+            321.9594827179615,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -769.4058793700733,
+            319.3614065066082,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -770.9058793700733,
+            316.7633302952549,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -772.4058793700733,
+            314.1652540839016,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -773.9058793700733,
+            311.56717787254826,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -775.4058793700733,
+            308.96910166119494,
+            4.964767589439855
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -776.9058793700733,
+            306.3710254498416,
+            4.964767589439855
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -802.5129748535156,
+            284.37975662231446,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-57-5_298625210/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-57-5_298625210/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2559a085da10847d34e01cba9464cc2e58f49090
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-57-5_298625210/pose.jsonl
@@ -0,0 +1,469 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -885.0046036543794,
+            -57.64465186714922,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -883.5046036543794,
+            -55.046575655795905,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -882.0046036543794,
+            -52.44849944444259,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -880.5046036543794,
+            -49.85042323308927,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -879.0046036543794,
+            -47.25234702173596,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -877.5046036543794,
+            -44.65427081038264,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -876.0046036543794,
+            -42.056194599029325,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -874.5046036543794,
+            -39.45811838767601,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -873.0046036543794,
+            -36.86004217632269,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -871.5046036543794,
+            -34.26196596496938,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -870.0046036543794,
+            -31.66388975361606,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -868.5046036543794,
+            -29.065813542262745,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -867.0046036543794,
+            -26.46773733090943,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -865.5046036543794,
+            -23.869661119556113,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -864.0046036543794,
+            -21.271584908202797,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -862.5046036543794,
+            -18.67350869684948,
+            -1.7695244154524343
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -862.5046036543794,
+            -18.67350869684948,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -859.9065274430261,
+            -17.17350869684948,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -857.3084512316727,
+            -15.673508696849481,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -854.7103750203194,
+            -14.173508696849481,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -852.112298808966,
+            -12.673508696849481,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -849.5142225976126,
+            -11.173508696849481,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -846.9161463862592,
+            -9.673508696849481,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -844.3180701749059,
+            -8.173508696849481,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -841.7199939635525,
+            -6.673508696849481,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -839.1219177521991,
+            -5.173508696849481,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -836.5238415408458,
+            -3.6735086968494812,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -833.9257653294924,
+            -2.1735086968494812,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -831.327689118139,
+            -0.6735086968494814,
+            -1.7695244154524343
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982893
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -831.327689118139,
+            -0.6735086968494814,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -829.827689118139,
+            1.9245675145038346,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -828.327689118139,
+            4.522643725857151,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -826.827689118139,
+            7.120719937210467,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -825.327689118139,
+            9.718796148563783,
+            -1.7695244154524343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -823.827689118139,
+            12.316872359917099,
+            -1.7695244154524343
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -821.0513497924804,
+            12.496731524467467,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-58-55_476667372/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-58-55_476667372/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7410a76b1339423167eb74b6669d8974c5998b12
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-58-55_476667372/pose.jsonl
@@ -0,0 +1,430 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -275.46143547542073,
+            -215.4652191775076,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -276.96143547542073,
+            -212.8671429661543,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -278.46143547542073,
+            -210.26906675480097,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -279.96143547542073,
+            -207.67099054344766,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -281.46143547542073,
+            -205.07291433209434,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -282.96143547542073,
+            -202.47483812074103,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -284.46143547542073,
+            -199.8767619093877,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -285.96143547542073,
+            -197.2786856980344,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -287.46143547542073,
+            -194.68060948668108,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -288.96143547542073,
+            -192.08253327532776,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -290.46143547542073,
+            -189.48445706397445,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -291.96143547542073,
+            -186.88638085262113,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -293.46143547542073,
+            -184.2883046412678,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -294.96143547542073,
+            -181.6902284299145,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -296.46143547542073,
+            -179.09215221856118,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -297.96143547542073,
+            -176.49407600720787,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -299.46143547542073,
+            -173.89599979585455,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -300.96143547542073,
+            -171.29792358450123,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -302.46143547542073,
+            -168.69984737314792,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -303.96143547542073,
+            -166.1017711617946,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -305.46143547542073,
+            -163.5036949504413,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -306.96143547542073,
+            -160.90561873908797,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -308.46143547542073,
+            -158.30754252773465,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -309.96143547542073,
+            -155.70946631638134,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -311.46143547542073,
+            -153.11139010502802,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -312.96143547542073,
+            -150.5133138936747,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -314.46143547542073,
+            -147.9152376823214,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -315.96143547542073,
+            -145.31716147096807,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -317.46143547542073,
+            -142.71908525961476,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -318.96143547542073,
+            -140.12100904826144,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -320.46143547542073,
+            -137.52293283690813,
+            1.9579041187406574
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -321.96143547542073,
+            -134.9248566255548,
+            1.9579041187406574
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -323.98753799438475,
+            -133.34803604125977,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-59-31_260401255/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-59-31_260401255/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bf46049d2a9c5c177114943b3a43d28811b439ec
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-59-31_260401255/pose.jsonl
@@ -0,0 +1,443 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            421.5893989192302,
+            471.36527693771666,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            421.5893989192302,
+            474.36527693771666,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            421.5893989192302,
+            477.36527693771666,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            421.5893989192302,
+            480.36527693771666,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            421.5893989192302,
+            483.36527693771666,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            421.5893989192302,
+            486.36527693771666,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            421.5893989192302,
+            489.36527693771666,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            421.5893989192302,
+            492.36527693771666,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            421.5893989192302,
+            495.36527693771666,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            421.5893989192302,
+            498.36527693771666,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            421.5893989192302,
+            501.36527693771666,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            421.5893989192302,
+            504.36527693771666,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            421.5893989192302,
+            507.36527693771666,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            421.5893989192302,
+            510.36527693771666,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            421.5893989192302,
+            513.3652769377167,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            421.5893989192302,
+            516.3652769377167,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            421.5893989192302,
+            519.3652769377167,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            421.5893989192302,
+            522.3652769377167,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            421.5893989192302,
+            525.3652769377167,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            421.5893989192302,
+            528.3652769377167,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            421.5893989192302,
+            531.3652769377167,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            421.5893989192302,
+            534.3652769377167,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            421.5893989192302,
+            537.3652769377167,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            421.5893989192302,
+            540.3652769377167,
+            3.069815314267222
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            421.5893989192302,
+            540.3652769377167,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            423.0893989192302,
+            542.9633531490699,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            424.5893989192302,
+            545.5614293604233,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            426.0893989192302,
+            548.1595055717767,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            427.5893989192302,
+            550.75758178313,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            429.0893989192302,
+            553.3556579944834,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            430.5893989192302,
+            555.9537342058368,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            432.0893989192302,
+            558.5518104171902,
+            3.069815314267222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            433.5893989192302,
+            561.1498866285435,
+            3.069815314267222
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            434.03729019165036,
+            563.8867979431152,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-6-2_1713258270/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-6-2_1713258270/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..30495492c7cf39eebd437b956221d4090c9f2082
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-6-2_1713258270/pose.jsonl
@@ -0,0 +1,508 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -320.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -317.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -314.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -311.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -308.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -305.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -302.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -299.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -296.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -293.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -290.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -287.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -284.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -281.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -278.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -275.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -272.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -269.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -266.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -263.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -260.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -257.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -254.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -251.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -248.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -245.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -242.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -239.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -236.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -233.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -230.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -227.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -224.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -221.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -218.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -218.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -218.68109635407103,
+            -415.80654007661815,
+            4.085054783943207
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -217.18109635407103,
+            -413.20846386526483,
+            4.085054783943207
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -215.0078338623047,
+            -412.48035171508786,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-7-46_200747796/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-7-46_200747796/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0fbdcc982f228a44efa5e9a1e7e3d0496f2b0373
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_12-7-46_200747796/pose.jsonl
@@ -0,0 +1,521 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -722.9768451643321,
+            -89.44127412474342,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -721.4768451643321,
+            -86.8431979133901,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -719.9768451643321,
+            -84.24512170203678,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -718.4768451643321,
+            -81.64704549068347,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -716.9768451643321,
+            -79.04896927933015,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -715.4768451643321,
+            -76.45089306797684,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -713.9768451643321,
+            -73.85281685662352,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -712.4768451643321,
+            -71.2547406452702,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -710.9768451643321,
+            -68.65666443391689,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -709.4768451643321,
+            -66.05858822256357,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -707.9768451643321,
+            -63.460512011210255,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -706.4768451643321,
+            -60.86243579985694,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -704.9768451643321,
+            -58.26435958850362,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -703.4768451643321,
+            -55.66628337715031,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -701.9768451643321,
+            -53.06820716579699,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -700.4768451643321,
+            -50.470130954443675,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -698.9768451643321,
+            -47.87205474309036,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -697.4768451643321,
+            -45.27397853173704,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -695.9768451643321,
+            -42.67590232038373,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -694.4768451643321,
+            -40.07782610903041,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -692.9768451643321,
+            -37.479749897677095,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -691.4768451643321,
+            -34.88167368632378,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -689.9768451643321,
+            -32.28359747497046,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -688.4768451643321,
+            -29.685521263617147,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -686.9768451643321,
+            -27.08744505226383,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -685.4768451643321,
+            -24.489368840910515,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -683.9768451643321,
+            -21.8912926295572,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -682.4768451643321,
+            -19.293216418203883,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -680.9768451643321,
+            -16.695140206850567,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -679.4768451643321,
+            -14.097063995497251,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -677.9768451643321,
+            -11.498987784143935,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -676.4768451643321,
+            -8.90091157279062,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -674.9768451643321,
+            -6.302835361437303,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -673.4768451643321,
+            -3.704759150083987,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -671.9768451643321,
+            -1.1066829387306711,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -670.4768451643321,
+            1.4913932726226449,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -668.9768451643321,
+            4.089469483975961,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -667.4768451643321,
+            6.687545695329277,
+            3.349663153702668
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -665.9768451643321,
+            9.285621906682593,
+            3.349663153702668
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -667.3111592102051,
+            12.556017684936524,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-10-54_524688209/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-10-54_524688209/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1fd56db523df3ed15b599adfc1574aa8184a436c
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-10-54_524688209/pose.jsonl
@@ -0,0 +1,482 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -626.614564180611,
+            153.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -626.614564180611,
+            150.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -626.614564180611,
+            147.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -626.614564180611,
+            144.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -626.614564180611,
+            141.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -626.614564180611,
+            138.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -626.614564180611,
+            135.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -626.614564180611,
+            132.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -626.614564180611,
+            129.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -626.614564180611,
+            126.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -626.614564180611,
+            123.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -626.614564180611,
+            120.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -626.614564180611,
+            117.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -626.614564180611,
+            114.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -626.614564180611,
+            111.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -626.614564180611,
+            108.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -626.614564180611,
+            105.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -626.614564180611,
+            102.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -626.614564180611,
+            99.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -626.614564180611,
+            96.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -626.614564180611,
+            93.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -626.614564180611,
+            90.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -626.614564180611,
+            87.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -626.614564180611,
+            84.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -626.614564180611,
+            81.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -626.614564180611,
+            78.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -626.614564180611,
+            75.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -626.614564180611,
+            72.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -626.614564180611,
+            69.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -626.614564180611,
+            66.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -626.614564180611,
+            63.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -626.614564180611,
+            60.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -626.614564180611,
+            57.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -626.614564180611,
+            54.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -626.614564180611,
+            54.28042356817127,
+            -0.9061561774492422
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -628.114564180611,
+            51.68234735681796,
+            -0.9061561774492422
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -629.9300636291504,
+            48.19314208984375,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-11-29_1566288819/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-11-29_1566288819/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..79fecc9d426b194cf42491eb48c9564bba5a389d
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-11-29_1566288819/pose.jsonl
@@ -0,0 +1,443 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -459.1154333933876,
+            -345.4223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -461.7135096047409,
+            -343.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -464.31158581609424,
+            -342.4223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -466.90966202744755,
+            -340.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -469.50773823880087,
+            -339.4223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -472.1058144501542,
+            -337.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -474.7038906615075,
+            -336.4223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -477.3019668728608,
+            -334.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -479.90004308421413,
+            -333.4223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -482.49811929556745,
+            -331.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -485.09619550692076,
+            -330.4223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -487.6942717182741,
+            -328.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -490.2923479296274,
+            -327.4223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -492.8904241409807,
+            -325.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -495.48850035233403,
+            -324.4223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -498.08657656368734,
+            -322.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -500.68465277504066,
+            -321.4223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -503.282728986394,
+            -319.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -505.8808051977473,
+            -318.4223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -508.4788814091006,
+            -316.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -511.0769576204539,
+            -315.4223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -513.6750338318072,
+            -313.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -513.6750338318072,
+            -313.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -516.6750338318072,
+            -313.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -519.6750338318072,
+            -313.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -522.6750338318072,
+            -313.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -525.6750338318072,
+            -313.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -528.6750338318072,
+            -313.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -531.6750338318072,
+            -313.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -534.6750338318072,
+            -313.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -537.6750338318072,
+            -313.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -540.6750338318072,
+            -313.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -543.6750338318072,
+            -313.9223918597179,
+            3.8011871822947594
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -545.8660174560547,
+            -312.8632476806641,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-12-23_726371155/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-12-23_726371155/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4b68c763ec01779aa1db81b2fc2d039c11ef4d98
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-12-23_726371155/pose.jsonl
@@ -0,0 +1,495 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -472.6719586852375,
+            136.49530148285706,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -471.1719586852375,
+            133.89722527150374,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -469.6719586852375,
+            131.29914906015043,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -468.1719586852375,
+            128.7010728487971,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -466.6719586852375,
+            126.1029966374438,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -465.1719586852375,
+            123.50492042609048,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -463.6719586852375,
+            120.90684421473716,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -462.1719586852375,
+            118.30876800338385,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -460.6719586852375,
+            115.71069179203053,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -459.1719586852375,
+            113.11261558067721,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -457.6719586852375,
+            110.5145393693239,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -456.1719586852375,
+            107.91646315797058,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -454.6719586852375,
+            105.31838694661727,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -453.1719586852375,
+            102.72031073526395,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -451.6719586852375,
+            100.12223452391063,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -450.1719586852375,
+            97.52415831255732,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -448.6719586852375,
+            94.926082101204,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -447.1719586852375,
+            92.32800588985069,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -445.6719586852375,
+            89.72992967849737,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -444.1719586852375,
+            87.13185346714405,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -442.6719586852375,
+            84.53377725579074,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -441.1719586852375,
+            81.93570104443742,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -439.6719586852375,
+            79.3376248330841,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -438.1719586852375,
+            76.73954862173079,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -436.6719586852375,
+            74.14147241037747,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -435.1719586852375,
+            71.54339619902416,
+            1.3702211641958426
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -435.1719586852375,
+            71.54339619902416,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -435.1719586852375,
+            68.54339619902416,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -435.1719586852375,
+            65.54339619902416,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -435.1719586852375,
+            62.54339619902416,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -435.1719586852375,
+            59.54339619902416,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -435.1719586852375,
+            56.54339619902416,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -435.1719586852375,
+            53.54339619902416,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -435.1719586852375,
+            50.54339619902416,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -435.1719586852375,
+            47.54339619902416,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -435.1719586852375,
+            44.54339619902416,
+            1.3702211641958426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -435.1719586852375,
+            41.54339619902416,
+            1.3702211641958426
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -431.4943495178223,
+            32.88219102859497,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-12-42_1927495994/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-12-42_1927495994/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a29dd0b7909199aade5fde658a863f72c4c03c36
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-12-42_1927495994/pose.jsonl
@@ -0,0 +1,196 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            471.9553043387029,
+            364.9107247595837,
+            3.7029957216805407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            474.9553043387029,
+            364.9107247595837,
+            3.7029957216805407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            477.9553043387029,
+            364.9107247595837,
+            3.7029957216805407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            480.9553043387029,
+            364.9107247595837,
+            3.7029957216805407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            483.9553043387029,
+            364.9107247595837,
+            3.7029957216805407
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            483.9553043387029,
+            364.9107247595837,
+            3.7029957216805407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            486.5533805500562,
+            366.4107247595837,
+            3.7029957216805407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            489.1514567614095,
+            367.9107247595837,
+            3.7029957216805407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            491.74953297276284,
+            369.4107247595837,
+            3.7029957216805407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            494.34760918411615,
+            370.9107247595837,
+            3.7029957216805407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            496.94568539546947,
+            372.4107247595837,
+            3.7029957216805407
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            496.94568539546947,
+            372.4107247595837,
+            3.7029957216805407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            498.44568539546947,
+            375.008800970937,
+            3.7029957216805407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            499.94568539546947,
+            377.6068771822903,
+            3.7029957216805407
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            560.3580831909179,
+            412.7992530822754,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-12-4_2114937732/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-12-4_2114937732/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f05ba486772f67dbaed6a263a62a93575048f83d
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-12-4_2114937732/pose.jsonl
@@ -0,0 +1,534 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -208.7214416068094,
+            315.6468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -206.1233653954561,
+            317.1468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -203.52528918410277,
+            318.6468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -200.92721297274946,
+            320.1468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -198.32913676139614,
+            321.6468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -195.73106055004283,
+            323.1468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -193.1329843386895,
+            324.6468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -190.5349081273362,
+            326.1468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -187.93683191598288,
+            327.6468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -185.33875570462956,
+            329.1468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -182.74067949327625,
+            330.6468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -180.14260328192293,
+            332.1468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -177.54452707056961,
+            333.6468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -174.9464508592163,
+            335.1468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -172.34837464786298,
+            336.6468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -169.75029843650967,
+            338.1468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -167.15222222515635,
+            339.6468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -164.55414601380303,
+            341.1468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -161.95606980244972,
+            342.6468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -159.3579935910964,
+            344.1468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -156.7599173797431,
+            345.6468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -154.16184116838977,
+            347.1468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -151.56376495703645,
+            348.6468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -148.96568874568314,
+            350.1468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -146.36761253432982,
+            351.6468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -143.7695363229765,
+            353.1468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -141.1714601116232,
+            354.6468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -138.57338390026987,
+            356.1468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -135.97530768891656,
+            357.6468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -133.37723147756324,
+            359.1468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -130.77915526620993,
+            360.6468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -128.1810790548566,
+            362.1468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -125.5830028435033,
+            363.6468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -122.98492663214998,
+            365.1468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -120.38685042079666,
+            366.6468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -117.78877420944335,
+            368.1468742805118,
+            4.837871090896819
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -117.78877420944335,
+            368.1468742805118,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -116.28877420944335,
+            370.7449504918651,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -114.78877420944335,
+            373.3430267032184,
+            4.837871090896819
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -113.28877420944335,
+            375.94110291457173,
+            4.837871090896819
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -114.1546768951416,
+            378.73713836669924,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-13-46_1682085273/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-13-46_1682085273/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1f2671a7f0163cfdce518f1a80c62bba2776fbf6
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-13-46_1682085273/pose.jsonl
@@ -0,0 +1,469 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -471.14857837936216,
+            138.949319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -473.7466545907155,
+            140.449319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -476.3447308020688,
+            141.949319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -478.9428070134221,
+            143.449319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -481.5408832247754,
+            144.949319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -484.13895943612874,
+            146.449319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -486.73703564748206,
+            147.949319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -489.3351118588354,
+            149.449319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -491.9331880701887,
+            150.949319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -494.531264281542,
+            152.449319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -497.1293404928953,
+            153.949319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -499.72741670424864,
+            155.449319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -502.32549291560196,
+            156.949319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -504.9235691269553,
+            158.449319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -507.5216453383086,
+            159.949319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -510.1197215496619,
+            161.449319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -512.7177977610152,
+            162.949319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -515.3158739723685,
+            164.449319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -517.9139501837219,
+            165.949319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -520.5120263950753,
+            167.449319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -523.1101026064287,
+            168.949319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -525.708178817782,
+            170.449319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -528.3062550291354,
+            171.949319834962,
+            -3.7063245204089896
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -528.3062550291354,
+            171.949319834962,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -529.8062550291354,
+            174.54739604631533,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -531.3062550291354,
+            177.14547225766864,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -532.8062550291354,
+            179.74354846902196,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -534.3062550291354,
+            182.34162468037528,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -535.8062550291354,
+            184.9397008917286,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -537.3062550291354,
+            187.5377771030819,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -538.8062550291354,
+            190.13585331443522,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -540.3062550291354,
+            192.73392952578854,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -541.8062550291354,
+            195.33200573714186,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -543.3062550291354,
+            197.93008194849517,
+            -3.7063245204089896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -544.8062550291354,
+            200.5281581598485,
+            -3.7063245204089896
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -547.9009985351562,
+            200.65022193908692,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-14-56_1858721860/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-14-56_1858721860/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1859e6543b63bc0dd9d4a5d346f30d140ae64c69
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-14-56_1858721860/pose.jsonl
@@ -0,0 +1,456 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            453.87015666331206,
+            -70.96886989588545,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            455.37015666331206,
+            -68.37079368453213,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            456.87015666331206,
+            -65.77271747317882,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            458.37015666331206,
+            -63.1746412618255,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            459.87015666331206,
+            -60.57656505047218,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            461.37015666331206,
+            -57.97848883911887,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            462.87015666331206,
+            -55.38041262776555,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            464.37015666331206,
+            -52.782336416412235,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            465.87015666331206,
+            -50.18426020505892,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            467.37015666331206,
+            -47.5861839937056,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            468.87015666331206,
+            -44.98810778235229,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            470.37015666331206,
+            -42.39003157099897,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            471.87015666331206,
+            -39.791955359645655,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            473.37015666331206,
+            -37.19387914829234,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            474.87015666331206,
+            -34.59580293693902,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            476.37015666331206,
+            -31.997726725585707,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            477.87015666331206,
+            -29.39965051423239,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            479.37015666331206,
+            -26.801574302879075,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            480.87015666331206,
+            -24.20349809152576,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            482.37015666331206,
+            -21.605421880172443,
+            0.3232916839991926
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            482.37015666331206,
+            -21.605421880172443,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            482.37015666331206,
+            -18.605421880172443,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            482.37015666331206,
+            -15.605421880172443,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            482.37015666331206,
+            -12.605421880172443,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            482.37015666331206,
+            -9.605421880172443,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            482.37015666331206,
+            -6.605421880172443,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            482.37015666331206,
+            -3.605421880172443,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            482.37015666331206,
+            -0.6054218801724431,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            482.37015666331206,
+            2.394578119827557,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            482.37015666331206,
+            5.394578119827557,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            482.37015666331206,
+            8.394578119827557,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            482.37015666331206,
+            11.394578119827557,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            482.37015666331206,
+            14.394578119827557,
+            0.3232916839991926
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            482.37015666331206,
+            17.394578119827557,
+            0.3232916839991926
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            481.2035136413574,
+            19.23793586730957,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-19-50_114723506/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-19-50_114723506/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ce2f63a6bcdb58ca3f5f3fd036d8d37c4477f5b2
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-19-50_114723506/pose.jsonl
@@ -0,0 +1,469 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -240.989508280701,
+            586.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -243.5875844920543,
+            584.9547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -246.18566070340762,
+            583.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -248.78373691476094,
+            581.9547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -251.38181312611425,
+            580.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -253.97988933746757,
+            578.9547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -256.5779655488209,
+            577.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -259.1760417601742,
+            575.9547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -261.7741179715275,
+            574.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -264.37219418288083,
+            572.9547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -266.97027039423415,
+            571.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -269.56834660558746,
+            569.9547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -272.1664228169408,
+            568.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -274.7644990282941,
+            566.9547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -277.3625752396474,
+            565.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -279.96065145100073,
+            563.9547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -282.55872766235404,
+            562.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -282.55872766235404,
+            562.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -285.55872766235404,
+            562.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -288.55872766235404,
+            562.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -291.55872766235404,
+            562.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -294.55872766235404,
+            562.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -297.55872766235404,
+            562.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -300.55872766235404,
+            562.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -303.55872766235404,
+            562.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -306.55872766235404,
+            562.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -309.55872766235404,
+            562.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -312.55872766235404,
+            562.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -315.55872766235404,
+            562.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -318.55872766235404,
+            562.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -321.55872766235404,
+            562.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -324.55872766235404,
+            562.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -327.55872766235404,
+            562.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -330.55872766235404,
+            562.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -333.55872766235404,
+            562.4547249756656,
+            -2.1282832073857385
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -335.0891884613037,
+            561.9170278930663,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-22-38_777210498/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-22-38_777210498/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..755dead77be1c575a06f521f5d2664864bfd2c20
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-22-38_777210498/pose.jsonl
@@ -0,0 +1,443 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -619.0429909329238,
+            270.0960899764889,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -621.641067144277,
+            268.5960899764889,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -624.2391433556304,
+            267.0960899764889,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -626.8372195669838,
+            265.5960899764889,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -629.4352957783371,
+            264.0960899764889,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -632.0333719896905,
+            262.5960899764889,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -634.6314482010439,
+            261.0960899764889,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -637.2295244123973,
+            259.5960899764889,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -639.8276006237506,
+            258.0960899764889,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -642.425676835104,
+            256.5960899764889,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -645.0237530464574,
+            255.09608997648888,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -647.6218292578108,
+            253.59608997648888,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -650.2199054691641,
+            252.09608997648888,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -652.8179816805175,
+            250.59608997648888,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -655.4160578918709,
+            249.09608997648888,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -658.0141341032243,
+            247.59608997648888,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -660.6122103145776,
+            246.09608997648888,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -663.210286525931,
+            244.59608997648888,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -665.8083627372844,
+            243.09608997648888,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -668.4064389486377,
+            241.59608997648888,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -671.0045151599911,
+            240.09608997648888,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -673.6025913713445,
+            238.59608997648888,
+            1.7491555096555498
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -673.6025913713445,
+            238.59608997648888,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -676.6025913713445,
+            238.59608997648888,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -679.6025913713445,
+            238.59608997648888,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -682.6025913713445,
+            238.59608997648888,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -685.6025913713445,
+            238.59608997648888,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -688.6025913713445,
+            238.59608997648888,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -691.6025913713445,
+            238.59608997648888,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -694.6025913713445,
+            238.59608997648888,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -697.6025913713445,
+            238.59608997648888,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -700.6025913713445,
+            238.59608997648888,
+            1.7491555096555498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -703.6025913713445,
+            238.59608997648888,
+            1.7491555096555498
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -707.2679043579102,
+            238.37122535705566,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-25-16_501772890/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-25-16_501772890/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e86c296b9fb5a3f0f4bcd7c2f41f3c85cd91197e
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-25-16_501772890/pose.jsonl
@@ -0,0 +1,534 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -516.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -519.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -522.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -525.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -528.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -531.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -534.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -537.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -540.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -543.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -546.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -549.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -552.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -555.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -558.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -561.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -564.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -567.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -570.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -573.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -576.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -579.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -582.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -585.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -588.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -591.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -594.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -597.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -600.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -603.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -606.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -609.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -612.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -615.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -618.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -618.9090787633903,
+            39.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -621.5071549747436,
+            41.48110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -624.105231186097,
+            42.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -626.7033073974503,
+            44.48110838765023,
+            1.0023887362077364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -629.3013836088037,
+            45.98110838765023,
+            1.0023887362077364
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -629.9300636291504,
+            48.19314208984375,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-29-23_1415505363/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-29-23_1415505363/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8a3ff812f3077b2c1b050658b2a135fffdff9f00
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-29-23_1415505363/pose.jsonl
@@ -0,0 +1,482 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -702.1599458266227,
+            -82.93686163036213,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -700.6599458266227,
+            -80.33878541900881,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -699.1599458266227,
+            -77.7407092076555,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -697.6599458266227,
+            -75.14263299630218,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -696.1599458266227,
+            -72.54455678494887,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -694.6599458266227,
+            -69.94648057359555,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -693.1599458266227,
+            -67.34840436224223,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -691.6599458266227,
+            -64.75032815088892,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -690.1599458266227,
+            -62.1522519395356,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -688.6599458266227,
+            -59.55417572818229,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -687.1599458266227,
+            -56.95609951682897,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -685.6599458266227,
+            -54.358023305475655,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -684.1599458266227,
+            -51.75994709412234,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -682.6599458266227,
+            -49.16187088276902,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -681.1599458266227,
+            -46.56379467141571,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -679.6599458266227,
+            -43.96571846006239,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -678.1599458266227,
+            -41.367642248709075,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -676.6599458266227,
+            -38.76956603735576,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -675.1599458266227,
+            -36.17148982600244,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -673.6599458266227,
+            -33.57341361464913,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -672.1599458266227,
+            -30.97533740329581,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -670.6599458266227,
+            -28.377261191942495,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -669.1599458266227,
+            -25.77918498058918,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -667.6599458266227,
+            -23.181108769235863,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -666.1599458266227,
+            -20.583032557882547,
+            -3.156311102331962
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -666.1599458266227,
+            -20.583032557882547,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -666.1599458266227,
+            -17.583032557882547,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -666.1599458266227,
+            -14.583032557882547,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -666.1599458266227,
+            -11.583032557882547,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -666.1599458266227,
+            -8.583032557882547,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -666.1599458266227,
+            -5.583032557882547,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -666.1599458266227,
+            -2.5830325578825466,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -666.1599458266227,
+            0.4169674421174534,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -666.1599458266227,
+            3.4169674421174534,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -666.1599458266227,
+            6.416967442117453,
+            -3.156311102331962
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -666.1599458266227,
+            9.416967442117453,
+            -3.156311102331962
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -667.3111592102051,
+            12.556017684936524,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-3-23_1307565984/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-3-23_1307565984/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ed1560c5440ca89c0fc497fa12bf3722c5b7ddb1
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-3-23_1307565984/pose.jsonl
@@ -0,0 +1,521 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -732.7987874890621,
+            -32.37168036144985,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -735.3968637004155,
+            -30.871680361449847,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -737.9949399117688,
+            -29.371680361449847,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -740.5930161231222,
+            -27.871680361449847,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -743.1910923344756,
+            -26.371680361449847,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -745.7891685458289,
+            -24.871680361449847,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -748.3872447571823,
+            -23.371680361449847,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -750.9853209685357,
+            -21.871680361449847,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -753.5833971798891,
+            -20.371680361449847,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -756.1814733912424,
+            -18.871680361449847,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -758.7795496025958,
+            -17.371680361449847,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -761.3776258139492,
+            -15.871680361449847,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -763.9757020253026,
+            -14.371680361449847,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -766.5737782366559,
+            -12.871680361449847,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -769.1718544480093,
+            -11.371680361449847,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -771.7699306593627,
+            -9.871680361449847,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -774.368006870716,
+            -8.371680361449847,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -776.9660830820694,
+            -6.871680361449847,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -779.5641592934228,
+            -5.371680361449847,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -782.1622355047762,
+            -3.8716803614498474,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -784.7603117161295,
+            -2.3716803614498474,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -787.3583879274829,
+            -0.8716803614498476,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -789.9564641388363,
+            0.6283196385501522,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -792.5545403501897,
+            2.1283196385501517,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991504
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -795.152616561543,
+            3.6283196385501517,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -797.7506927728964,
+            5.128319638550152,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -800.3487689842498,
+            6.628319638550152,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -802.9468451956031,
+            8.12831963855015,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991504
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -805.5449214069565,
+            9.62831963855015,
+            -4.7783990454101835
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -805.5449214069565,
+            9.62831963855015,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -808.5449214069565,
+            9.62831963855015,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -811.5449214069565,
+            9.62831963855015,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -814.5449214069565,
+            9.62831963855015,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -817.5449214069565,
+            9.62831963855015,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -820.5449214069565,
+            9.62831963855015,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -823.5449214069565,
+            9.62831963855015,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -826.5449214069565,
+            9.62831963855015,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -829.5449214069565,
+            9.62831963855015,
+            -4.7783990454101835
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -832.5449214069565,
+            9.62831963855015,
+            -4.7783990454101835
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -834.8437512207031,
+            12.72820457458496,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-3-58_324763920/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-3-58_324763920/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..245ef8c6ecb06ce2b1f35ae5a0e309dfd26af79e
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-3-58_324763920/pose.jsonl
@@ -0,0 +1,508 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -43.670329432688234,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -46.670329432688234,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -49.670329432688234,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -52.670329432688234,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -55.670329432688234,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -58.670329432688234,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -61.670329432688234,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -64.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -67.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -70.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -73.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -76.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -79.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -82.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -85.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -88.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -91.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -94.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -97.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -100.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -103.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -106.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -109.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -112.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -115.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -118.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -121.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -124.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -127.67032943268823,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -130.67032943268822,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -133.67032943268822,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -136.67032943268822,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -139.67032943268822,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -142.67032943268822,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -145.67032943268822,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -148.67032943268822,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -151.67032943268822,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -154.67032943268822,
+            -61.86533372034536,
+            0.9099317929768151
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -156.47577671051025,
+            -64.65314291000367,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-33-55_861543921/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-33-55_861543921/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5af26521cb6e62de359d4e21a06ab47d7e565c42
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-33-55_861543921/pose.jsonl
@@ -0,0 +1,560 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -278.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -275.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -272.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -269.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -266.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -263.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -260.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -257.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -254.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -251.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -248.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -245.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -242.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -239.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -236.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -233.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -230.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -227.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -224.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -221.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -218.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -215.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -212.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -209.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -206.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -206.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -206.1079704234944,
+            -495.7151732108416,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -204.6079704234944,
+            -493.1170969994883,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -203.1079704234944,
+            -490.519020788135,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -201.6079704234944,
+            -487.92094457678166,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -200.1079704234944,
+            -485.32286836542835,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -198.6079704234944,
+            -482.72479215407503,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -197.1079704234944,
+            -480.1267159427217,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -195.6079704234944,
+            -477.5286397313684,
+            3.637434321362834
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -195.6079704234944,
+            -477.5286397313684,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -193.0098942121411,
+            -476.0286397313684,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -190.41181800078778,
+            -474.5286397313684,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -187.81374178943446,
+            -473.0286397313684,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -185.21566557808114,
+            -471.5286397313684,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -182.61758936672783,
+            -470.0286397313684,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -180.0195131553745,
+            -468.5286397313684,
+            3.637434321362834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -177.4214369440212,
+            -467.0286397313684,
+            3.637434321362834
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -175.02334197998047,
+            -467.78616867065426,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-35-40_332266748/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-35-40_332266748/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ecc9bf19020c3524c07dbaa7ea70afc01ff372a6
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-35-40_332266748/pose.jsonl
@@ -0,0 +1,547 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -119.64048741551807,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -116.64048741551807,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -113.64048741551807,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -110.64048741551807,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -107.64048741551807,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -104.64048741551807,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -101.64048741551807,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -98.64048741551807,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -95.64048741551807,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -92.64048741551807,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -89.64048741551807,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -86.64048741551807,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -83.64048741551807,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -80.64048741551807,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -77.64048741551807,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -74.64048741551807,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -71.64048741551807,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -68.64048741551807,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -65.64048741551807,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -62.640487415518066,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -59.640487415518066,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -56.640487415518066,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -53.640487415518066,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -50.640487415518066,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -47.640487415518066,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -44.640487415518066,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -44.640487415518066,
+            712.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -42.04241120416475,
+            710.9416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -39.444334992811434,
+            709.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -36.84625878145812,
+            707.9416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -34.2481825701048,
+            706.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -31.650106358751486,
+            704.9416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -29.05203014739817,
+            703.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -26.453953936044854,
+            701.9416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -23.85587772469154,
+            700.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -21.257801513338222,
+            698.9416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -18.659725301984906,
+            697.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -16.06164909063159,
+            695.9416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -13.463572879278274,
+            694.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -10.865496667924958,
+            692.9416623896343,
+            1.4091665937757245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -8.267420456571642,
+            691.4416623896343,
+            1.4091665937757245
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -5.930885200500488,
+            691.5702409362793,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-35-59_1192707556/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-35-59_1192707556/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f67cde3fab4de7113a633655ec9fb452b4d202fa
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-35-59_1192707556/pose.jsonl
@@ -0,0 +1,469 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -254.09703508820866,
+            -350.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -256.695111299562,
+            -352.37421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -259.2931875109153,
+            -353.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -261.8912637222686,
+            -355.37421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -264.4893399336219,
+            -356.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -267.08741614497524,
+            -358.37421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -269.68549235632855,
+            -359.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -272.28356856768187,
+            -361.37421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -274.8816447790352,
+            -362.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -277.4797209903885,
+            -364.37421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -280.0777972017418,
+            -365.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -282.67587341309513,
+            -367.37421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -285.27394962444845,
+            -368.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -287.87202583580176,
+            -370.37421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -290.4701020471551,
+            -371.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -293.0681782585084,
+            -373.37421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -295.6662544698617,
+            -374.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -295.6662544698617,
+            -374.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -298.6662544698617,
+            -374.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -301.6662544698617,
+            -374.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -304.6662544698617,
+            -374.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -307.6662544698617,
+            -374.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -310.6662544698617,
+            -374.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -313.6662544698617,
+            -374.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -316.6662544698617,
+            -374.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -319.6662544698617,
+            -374.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -322.6662544698617,
+            -374.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -325.6662544698617,
+            -374.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -328.6662544698617,
+            -374.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -331.6662544698617,
+            -374.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -334.6662544698617,
+            -374.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -337.6662544698617,
+            -374.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -340.6662544698617,
+            -374.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -343.6662544698617,
+            -374.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -346.6662544698617,
+            -374.87421345827585,
+            -0.7862239964861288
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -348.85303680419923,
+            -377.0924723815918,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-39-31_1473144500/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-39-31_1473144500/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b338bfd6fd5a14cb9ace68ae0545794810d9d89d
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-39-31_1473144500/pose.jsonl
@@ -0,0 +1,469 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -474.38134498313354,
+            -123.6755120679644,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -471.78326877178023,
+            -125.1755120679644,
+            -1.1301087421591305
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -471.78326877178023,
+            -125.1755120679644,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -470.28326877178023,
+            -127.77358827931772,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -468.78326877178023,
+            -130.37166449067104,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -467.28326877178023,
+            -132.96974070202435,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -465.78326877178023,
+            -135.56781691337767,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -464.28326877178023,
+            -138.16589312473099,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -462.78326877178023,
+            -140.7639693360843,
+            -1.1301087421591305
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -462.78326877178023,
+            -140.7639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -460.1851925604269,
+            -142.2639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -457.5871163490736,
+            -143.7639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -454.9890401377203,
+            -145.2639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -452.39096392636696,
+            -146.7639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -449.79288771501365,
+            -148.2639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -447.19481150366033,
+            -149.7639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -444.596735292307,
+            -151.2639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -441.9986590809537,
+            -152.7639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -439.4005828696004,
+            -154.2639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -436.80250665824707,
+            -155.7639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -434.20443044689375,
+            -157.2639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -431.60635423554044,
+            -158.7639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -429.0082780241871,
+            -160.2639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -426.4102018128338,
+            -161.7639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -423.8121256014805,
+            -163.2639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -421.2140493901272,
+            -164.7639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -418.61597317877386,
+            -166.2639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -416.01789696742054,
+            -167.7639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -413.4198207560672,
+            -169.2639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -410.8217445447139,
+            -170.7639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -408.2236683333606,
+            -172.2639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -405.6255921220073,
+            -173.7639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -403.02751591065396,
+            -175.2639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -400.42943969930064,
+            -176.7639693360843,
+            -1.1301087421591305
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -397.83136348794733,
+            -178.2639693360843,
+            -1.1301087421591305
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -395.0994828796387,
+            -178.58960372924804,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-4-16_155789224/pose.jsonl b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-4-16_155789224/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cd8c18fb1b6089f2b523cde7905df4b06bb6529c
--- /dev/null
+++ b/Image/env_gs_sjtu01/astar_data/long/2025-1-6_13-4-16_155789224/pose.jsonl
@@ -0,0 +1,521 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            136.6502526285861,
+            733.369872392512,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            139.6502526285861,
+            733.369872392512,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            142.6502526285861,
+            733.369872392512,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            145.6502526285861,
+            733.369872392512,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            148.6502526285861,
+            733.369872392512,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            151.6502526285861,
+            733.369872392512,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            154.6502526285861,
+            733.369872392512,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            157.6502526285861,
+            733.369872392512,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            160.6502526285861,
+            733.369872392512,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            163.6502526285861,
+            733.369872392512,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            166.6502526285861,
+            733.369872392512,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            169.6502526285861,
+            733.369872392512,
+            -1.732913687307907
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            169.6502526285861,
+            733.369872392512,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            172.2483288399394,
+            731.869872392512,
+            -1.732913687307907
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            172.2483288399394,
+            731.869872392512,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            173.7483288399394,
+            729.2717961811586,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            175.2483288399394,
+            726.6737199698052,
+            -1.732913687307907
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            175.2483288399394,
+            726.6737199698052,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            177.84640505129272,
+            725.1737199698052,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            180.44448126264604,
+            723.6737199698052,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            183.04255747399935,
+            722.1737199698052,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            185.64063368535267,
+            720.6737199698052,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            188.23870989670598,
+            719.1737199698052,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            190.8367861080593,
+            717.6737199698052,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            193.43486231941262,
+            716.1737199698052,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            196.03293853076593,
+            714.6737199698052,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            198.63101474211925,
+            713.1737199698052,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            201.22909095347256,
+            711.6737199698052,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            203.82716716482588,
+            710.1737199698052,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            206.4252433761792,
+            708.6737199698052,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            209.0233195875325,
+            707.1737199698052,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            211.62139579888583,
+            705.6737199698052,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            214.21947201023914,
+            704.1737199698052,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            216.81754822159246,
+            702.6737199698052,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            219.41562443294578,
+            701.1737199698052,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            222.0137006442991,
+            699.6737199698052,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            224.6117768556524,
+            698.1737199698052,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            227.20985306700572,
+            696.6737199698052,
+            -1.732913687307907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            229.80792927835904,
+            695.1737199698052,
+            -1.732913687307907
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            229.7172834777832,
+            692.2608906555175,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_1-53-46_292423943/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_1-53-46_292423943/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2a3430faac7cfac2240871475a3f8263461b33ed
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_1-53-46_292423943/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -601.9823303294509,
+            323.8516510937034,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -600.4823303294509,
+            326.44972730505674,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -598.9823303294509,
+            329.04780351641006,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -597.4823303294509,
+            331.6458797277634,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -595.9823303294509,
+            334.2439559391167,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -594.4823303294509,
+            336.84203215047,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -592.9823303294509,
+            339.4401083618233,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -591.4823303294509,
+            342.03818457317664,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -589.9823303294509,
+            344.63626078452995,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -588.4823303294509,
+            347.23433699588327,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -586.9823303294509,
+            349.8324132072366,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -585.4823303294509,
+            352.4304894185899,
+            -12.538401782670704
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -585.4823303294509,
+            352.4304894185899,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -585.4823303294509,
+            355.4304894185899,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -585.4823303294509,
+            358.4304894185899,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -585.4823303294509,
+            361.4304894185899,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -585.4823303294509,
+            364.4304894185899,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -585.4823303294509,
+            367.4304894185899,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -585.4823303294509,
+            370.4304894185899,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -585.4823303294509,
+            373.4304894185899,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -585.4823303294509,
+            376.4304894185899,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -585.4823303294509,
+            379.4304894185899,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -585.4823303294509,
+            382.4304894185899,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -585.4823303294509,
+            385.4304894185899,
+            -12.538401782670704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -585.4823303294509,
+            388.4304894185899,
+            -12.538401782670704
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -585.7167987823486,
+            390.5620746612549,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_1-54-0_1265122573/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_1-54-0_1265122573/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1b00f170ad28898ec832b669cf5da14746b3a295
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_1-54-0_1265122573/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -765.2629475625803,
+            820.0053500881194,
+            -7.981663424125802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -763.7629475625803,
+            817.4072738767661,
+            -7.981663424125802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -762.2629475625803,
+            814.8091976654127,
+            -7.981663424125802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -760.7629475625803,
+            812.2111214540594,
+            -7.981663424125802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -759.2629475625803,
+            809.613045242706,
+            -7.981663424125802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -757.7629475625803,
+            807.0149690313526,
+            -7.981663424125802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -756.2629475625803,
+            804.4168928199992,
+            -7.981663424125802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -754.7629475625803,
+            801.8188166086459,
+            -7.981663424125802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -753.2629475625803,
+            799.2207403972925,
+            -7.981663424125802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -751.7629475625803,
+            796.6226641859391,
+            -7.981663424125802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -750.2629475625803,
+            794.0245879745858,
+            -7.981663424125802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -748.7629475625803,
+            791.4265117632324,
+            -7.981663424125802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -747.2629475625803,
+            788.828435551879,
+            -7.981663424125802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -745.7629475625803,
+            786.2303593405256,
+            -7.981663424125802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -744.2629475625803,
+            783.6322831291723,
+            -7.981663424125802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -742.7629475625803,
+            781.0342069178189,
+            -7.981663424125802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -741.2629475625803,
+            778.4361307064655,
+            -7.981663424125802
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -741.2629475625803,
+            778.4361307064655,
+            -7.981663424125802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -741.2629475625803,
+            775.4361307064655,
+            -7.981663424125802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -741.2629475625803,
+            772.4361307064655,
+            -7.981663424125802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -741.2629475625803,
+            769.4361307064655,
+            -7.981663424125802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -741.2629475625803,
+            766.4361307064655,
+            -7.981663424125802
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -740.0974159240723,
+            764.462329864502,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_1-54-25_124666328/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_1-54-25_124666328/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1e4476367a23ddd285be671467cee3730cea756d
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_1-54-25_124666328/pose.jsonl
@@ -0,0 +1,404 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -452.90967456818044,
+            130.58021883914765,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -452.90967456818044,
+            127.58021883914765,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -452.90967456818044,
+            124.58021883914765,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -452.90967456818044,
+            121.58021883914765,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -452.90967456818044,
+            118.58021883914765,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -452.90967456818044,
+            115.58021883914765,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -452.90967456818044,
+            112.58021883914765,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -452.90967456818044,
+            109.58021883914765,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -452.90967456818044,
+            106.58021883914765,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -452.90967456818044,
+            103.58021883914765,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -452.90967456818044,
+            100.58021883914765,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -452.90967456818044,
+            97.58021883914765,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -452.90967456818044,
+            94.58021883914765,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -452.90967456818044,
+            91.58021883914765,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -452.90967456818044,
+            88.58021883914765,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -452.90967456818044,
+            85.58021883914765,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -452.90967456818044,
+            82.58021883914765,
+            -14.493864868002287
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -452.90967456818044,
+            82.58021883914765,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -451.40967456818044,
+            79.98214262779433,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -449.90967456818044,
+            77.38406641644102,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -448.40967456818044,
+            74.7859902050877,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -446.90967456818044,
+            72.18791399373438,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -445.40967456818044,
+            69.58983778238107,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -443.90967456818044,
+            66.99176157102775,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -442.40967456818044,
+            64.39368535967444,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -440.90967456818044,
+            61.79560914832112,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -439.40967456818044,
+            59.197532936967804,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -437.90967456818044,
+            56.59945672561449,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -436.40967456818044,
+            54.00138051426117,
+            -14.493864868002287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -434.90967456818044,
+            51.403304302907856,
+            -14.493864868002287
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -434.32421112060547,
+            48.821704387664795,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_1-56-59_551836836/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_1-56-59_551836836/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..30e0c6642580f932abbed3760a4fc72590343985
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_1-56-59_551836836/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -668.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -665.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -662.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -659.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -656.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -653.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -650.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -647.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -644.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -641.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -638.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -635.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -632.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -629.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -626.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -623.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -620.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -617.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -614.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -611.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -608.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -605.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -602.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -599.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -596.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -593.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -590.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -587.7009352760529,
+            513.6104108500659,
+            -6.13078290616977
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -585.9082164764404,
+            513.8831596374512,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-0-11_483689685/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-0-11_483689685/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d131916719662192a85d43fe0160d6aa31f682dc
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-0-11_483689685/pose.jsonl
@@ -0,0 +1,417 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -447.5335239078017,
+            302.66344678684084,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -450.131600119155,
+            301.16344678684084,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -452.7296763305083,
+            299.66344678684084,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -455.3277525418616,
+            298.16344678684084,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -457.92582875321494,
+            296.66344678684084,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -460.52390496456826,
+            295.16344678684084,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -463.1219811759216,
+            293.66344678684084,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -465.7200573872749,
+            292.16344678684084,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -468.3181335986282,
+            290.66344678684084,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -470.9162098099815,
+            289.16344678684084,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -473.51428602133484,
+            287.66344678684084,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -476.11236223268816,
+            286.16344678684084,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -478.7104384440415,
+            284.66344678684084,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -481.3085146553948,
+            283.16344678684084,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -483.9065908667481,
+            281.66344678684084,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -486.5046670781014,
+            280.16344678684084,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -489.10274328945474,
+            278.66344678684084,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -491.70081950080805,
+            277.16344678684084,
+            -12.010891508058812
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -491.70081950080805,
+            277.16344678684084,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -493.20081950080805,
+            274.5653705754875,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -494.70081950080805,
+            271.9672943641342,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -496.20081950080805,
+            269.3692181527809,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -497.70081950080805,
+            266.7711419414276,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -499.20081950080805,
+            264.17306573007426,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -500.70081950080805,
+            261.57498951872094,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -502.20081950080805,
+            258.9769133073676,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -503.70081950080805,
+            256.3788370960143,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -505.20081950080805,
+            253.780760884661,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -506.70081950080805,
+            251.18268467330768,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -508.20081950080805,
+            248.58460846195436,
+            -12.010891508058812
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -509.70081950080805,
+            245.98653225060104,
+            -12.010891508058812
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -511.4263668060303,
+            245.88372898101807,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-1-37_2000419805/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-1-37_2000419805/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d56958108b650bb99f87cd644ac10965c1f89bce
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-1-37_2000419805/pose.jsonl
@@ -0,0 +1,456 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -417.19434552335974,
+            715.8151105281917,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -415.69434552335974,
+            713.2170343168384,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -414.19434552335974,
+            710.618958105485,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -412.69434552335974,
+            708.0208818941317,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -411.19434552335974,
+            705.4228056827783,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -409.69434552335974,
+            702.8247294714249,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -408.19434552335974,
+            700.2266532600715,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -406.69434552335974,
+            697.6285770487182,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -405.19434552335974,
+            695.0305008373648,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -403.69434552335974,
+            692.4324246260114,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -402.19434552335974,
+            689.834348414658,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -400.69434552335974,
+            687.2362722033047,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -399.19434552335974,
+            684.6381959919513,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -397.69434552335974,
+            682.0401197805979,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -396.19434552335974,
+            679.4420435692446,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -394.69434552335974,
+            676.8439673578912,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -393.19434552335974,
+            674.2458911465378,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -391.69434552335974,
+            671.6478149351844,
+            -5.790327824100196
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -391.69434552335974,
+            671.6478149351844,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -389.0962693120064,
+            670.1478149351844,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -386.4981931006531,
+            668.6478149351844,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -383.9001168892998,
+            667.1478149351844,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -381.3020406779465,
+            665.6478149351844,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -378.70396446659316,
+            664.1478149351844,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -376.10588825523985,
+            662.6478149351844,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -373.50781204388653,
+            661.1478149351844,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -370.9097358325332,
+            659.6478149351844,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -368.3116596211799,
+            658.1478149351844,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -365.7135834098266,
+            656.6478149351844,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -363.11550719847327,
+            655.1478149351844,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -360.51743098711995,
+            653.6478149351844,
+            -5.790327824100196
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -360.51743098711995,
+            653.6478149351844,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -357.51743098711995,
+            653.6478149351844,
+            -5.790327824100196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -354.51743098711995,
+            653.6478149351844,
+            -5.790327824100196
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -353.1334648132324,
+            652.8639297485352,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-1-57_746349250/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-1-57_746349250/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f468d33eb4130a17d58cc0af02af041e3cbf94e9
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-1-57_746349250/pose.jsonl
@@ -0,0 +1,430 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -804.5277658149538,
+            407.88243124333366,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -803.0277658149538,
+            410.480507454687,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -801.5277658149538,
+            413.0785836660403,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -800.0277658149538,
+            415.6766598773936,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -798.5277658149538,
+            418.2747360887469,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -797.0277658149538,
+            420.87281230010024,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -795.5277658149538,
+            423.47088851145355,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -794.0277658149538,
+            426.06896472280687,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -792.5277658149538,
+            428.6670409341602,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -791.0277658149538,
+            431.2651171455135,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -789.5277658149538,
+            433.8631933568668,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -788.0277658149538,
+            436.46126956822013,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -786.5277658149538,
+            439.05934577957345,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -785.0277658149538,
+            441.65742199092676,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -783.5277658149538,
+            444.2554982022801,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -782.0277658149538,
+            446.8535744136334,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -780.5277658149538,
+            449.4516506249867,
+            -12.771616656933563
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -780.5277658149538,
+            449.4516506249867,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -780.5277658149538,
+            452.4516506249867,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -780.5277658149538,
+            455.4516506249867,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -780.5277658149538,
+            458.4516506249867,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -780.5277658149538,
+            461.4516506249867,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -780.5277658149538,
+            464.4516506249867,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -780.5277658149538,
+            467.4516506249867,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -780.5277658149538,
+            470.4516506249867,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -780.5277658149538,
+            473.4516506249867,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -780.5277658149538,
+            476.4516506249867,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -780.5277658149538,
+            479.4516506249867,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -780.5277658149538,
+            482.4516506249867,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -780.5277658149538,
+            485.4516506249867,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -780.5277658149538,
+            488.4516506249867,
+            -12.771616656933563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -780.5277658149538,
+            491.4516506249867,
+            -12.771616656933563
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -779.4345855712891,
+            494.56167793273926,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-10-20_550245196/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-10-20_550245196/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a5a7a1453f928f8688c39a5c732dd01d082de88e
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-10-20_550245196/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -374.34779629437304,
+            342.065987169399,
+            -4.390567355539108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -372.84779629437304,
+            339.4679109580457,
+            -4.390567355539108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -371.34779629437304,
+            336.8698347466924,
+            -4.390567355539108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -369.84779629437304,
+            334.2717585353391,
+            -4.390567355539108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -368.34779629437304,
+            331.67368232398576,
+            -4.390567355539108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -366.84779629437304,
+            329.07560611263244,
+            -4.390567355539108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -365.34779629437304,
+            326.4775299012791,
+            -4.390567355539108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -363.84779629437304,
+            323.8794536899258,
+            -4.390567355539108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -362.34779629437304,
+            321.2813774785725,
+            -4.390567355539108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -360.84779629437304,
+            318.6833012672192,
+            -4.390567355539108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -359.34779629437304,
+            316.08522505586586,
+            -4.390567355539108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -357.84779629437304,
+            313.48714884451255,
+            -4.390567355539108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -356.34779629437304,
+            310.88907263315923,
+            -4.390567355539108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -354.84779629437304,
+            308.2909964218059,
+            -4.390567355539108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -353.34779629437304,
+            305.6929202104526,
+            -4.390567355539108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -351.84779629437304,
+            303.0948439990993,
+            -4.390567355539108
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -351.84779629437304,
+            303.0948439990993,
+            -4.390567355539108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -349.2497200830197,
+            301.5948439990993,
+            -4.390567355539108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -346.6516438716664,
+            300.0948439990993,
+            -4.390567355539108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -344.0535676603131,
+            298.5948439990993,
+            -4.390567355539108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -341.4554914489598,
+            297.0948439990993,
+            -4.390567355539108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -338.85741523760646,
+            295.5948439990993,
+            -4.390567355539108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -336.25933902625314,
+            294.0948439990993,
+            -4.390567355539108
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -335.2635250091553,
+            293.34011459350586,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-14-19_94307398/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-14-19_94307398/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0c188c3881ce677972e8d37eb66e9b2916cdc9c9
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-14-19_94307398/pose.jsonl
@@ -0,0 +1,456 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -168.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -171.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -174.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -177.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -180.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -183.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -186.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -189.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -192.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -195.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -198.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -201.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -204.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -207.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -210.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -213.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -216.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -219.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -222.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -225.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -228.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -231.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -234.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -237.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -240.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -243.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -246.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -249.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -252.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -252.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -252.7833971014648,
+            601.9063334675785,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -254.2833971014648,
+            604.5044096789318,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -255.7833971014648,
+            607.1024858902852,
+            -13.95897447897406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -257.2833971014648,
+            609.7005621016385,
+            -13.95897447897406
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -260.7199411392212,
+            609.1296615600586,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-14-48_51245830/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-14-48_51245830/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6a28f43f84e9c9e6156d9dadc709bf220ab2cb47
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-14-48_51245830/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -754.8311094645951,
+            549.6868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -757.4291856759485,
+            548.1868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -760.0272618873018,
+            546.6868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -762.6253380986552,
+            545.1868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -765.2234143100086,
+            543.6868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -767.821490521362,
+            542.1868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -770.4195667327153,
+            540.6868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -773.0176429440687,
+            539.1868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -775.6157191554221,
+            537.6868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -778.2137953667755,
+            536.1868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -780.8118715781288,
+            534.6868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -783.4099477894822,
+            533.1868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -786.0080240008356,
+            531.6868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -788.606100212189,
+            530.1868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -791.2041764235423,
+            528.6868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -793.8022526348957,
+            527.1868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -796.4003288462491,
+            525.6868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -798.9984050576024,
+            524.1868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -801.5964812689558,
+            522.6868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -804.1945574803092,
+            521.1868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -806.7926336916626,
+            519.6868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -809.3907099030159,
+            518.1868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -811.9887861143693,
+            516.6868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -814.5868623257227,
+            515.1868001239645,
+            -7.447539993806657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -814.5868623257227,
+            515.1868001239645,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -816.0868623257227,
+            512.5887239126112,
+            -7.447539993806657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -817.5868623257227,
+            509.99064770125784,
+            -7.447539993806657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -820.1165351867676,
+            508.1861820220947,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-15-32_1046370347/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-15-32_1046370347/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d6469840aa0b1ec8f8e3c79415c8b09797e4d0b6
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-15-32_1046370347/pose.jsonl
@@ -0,0 +1,430 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -426.34873678650155,
+            475.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -429.34873678650155,
+            475.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -432.34873678650155,
+            475.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -435.34873678650155,
+            475.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -438.34873678650155,
+            475.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -441.34873678650155,
+            475.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -444.34873678650155,
+            475.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -447.34873678650155,
+            475.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -450.34873678650155,
+            475.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -453.34873678650155,
+            475.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -456.34873678650155,
+            475.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -459.34873678650155,
+            475.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -462.34873678650155,
+            475.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -465.34873678650155,
+            475.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -468.34873678650155,
+            475.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -471.34873678650155,
+            475.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -474.34873678650155,
+            475.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -477.34873678650155,
+            475.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -480.34873678650155,
+            475.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -480.34873678650155,
+            475.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -482.94681299785486,
+            476.5521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -485.5448892092082,
+            478.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -488.1429654205615,
+            479.5521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -490.7410416319148,
+            481.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -493.3391178432681,
+            482.5521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -495.93719405462144,
+            484.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -498.53527026597476,
+            485.5521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -501.1333464773281,
+            487.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -503.7314226886814,
+            488.5521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -506.3294989000347,
+            490.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -508.927575111388,
+            491.5521286692707,
+            -0.6266864629814535
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -511.52565132274134,
+            493.0521286692707,
+            -0.6266864629814535
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -513.548921585083,
+            491.5803527832031,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-15-49_628966950/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-15-49_628966950/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4c7e5008e54a114a61bda90dbcc9ec0a26208142
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_2-15-49_628966950/pose.jsonl
@@ -0,0 +1,430 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -231.14038728618235,
+            99.67995496353278,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -229.64038728618235,
+            102.2780311748861,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -228.14038728618235,
+            104.87610738623941,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -226.64038728618235,
+            107.47418359759273,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -225.14038728618235,
+            110.07225980894604,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -223.64038728618235,
+            112.67033602029936,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -222.14038728618235,
+            115.26841223165268,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -220.64038728618235,
+            117.86648844300599,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -219.14038728618235,
+            120.46456465435931,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -217.64038728618235,
+            123.06264086571262,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -216.14038728618235,
+            125.66071707706594,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -214.64038728618235,
+            128.25879328841927,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -213.14038728618235,
+            130.85686949977259,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -211.64038728618235,
+            133.4549457111259,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -210.14038728618235,
+            136.05302192247922,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -208.64038728618235,
+            138.65109813383253,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -207.14038728618235,
+            141.24917434518585,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -205.64038728618235,
+            143.84725055653917,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -204.14038728618235,
+            146.44532676789248,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -202.64038728618235,
+            149.0434029792458,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -201.14038728618235,
+            151.6414791905991,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -199.64038728618235,
+            154.23955540195243,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -198.14038728618235,
+            156.83763161330575,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -196.64038728618235,
+            159.43570782465906,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -195.14038728618235,
+            162.03378403601238,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -193.64038728618235,
+            164.6318602473657,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -192.14038728618235,
+            167.229936458719,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -190.64038728618235,
+            169.82801267007233,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -189.14038728618235,
+            172.42608888142564,
+            -15.133371223005582
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -189.14038728618235,
+            172.42608888142564,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -189.14038728618235,
+            175.42608888142564,
+            -15.133371223005582
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -189.14038728618235,
+            178.42608888142564,
+            -15.133371223005582
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -189.65012454986572,
+            180.22162532806396,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-34-48_1855843024/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-34-48_1855843024/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b0fe0b287a1258d3c8236d8582815c894e836b3d
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-34-48_1855843024/pose.jsonl
@@ -0,0 +1,378 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -423.20950891554827,
+            670.0055949623498,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -420.20950891554827,
+            670.0055949623498,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -417.20950891554827,
+            670.0055949623498,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -414.20950891554827,
+            670.0055949623498,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -411.20950891554827,
+            670.0055949623498,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -408.20950891554827,
+            670.0055949623498,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -405.20950891554827,
+            670.0055949623498,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -402.20950891554827,
+            670.0055949623498,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -399.20950891554827,
+            670.0055949623498,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -396.20950891554827,
+            670.0055949623498,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -393.20950891554827,
+            670.0055949623498,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -390.20950891554827,
+            670.0055949623498,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -387.20950891554827,
+            670.0055949623498,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -384.20950891554827,
+            670.0055949623498,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -381.20950891554827,
+            670.0055949623498,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -378.20950891554827,
+            670.0055949623498,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -375.20950891554827,
+            670.0055949623498,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -372.20950891554827,
+            670.0055949623498,
+            -3.7305114013230494
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -372.20950891554827,
+            670.0055949623498,
+            -3.7305114013230494
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -372.20950891554827,
+            670.0055949623498,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -370.70950891554827,
+            667.4075187509966,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -369.20950891554827,
+            664.8094425396432,
+            -3.7305114013230494
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -369.20950891554827,
+            664.8094425396432,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -366.61143270419495,
+            663.3094425396432,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -364.01335649284164,
+            661.8094425396432,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -361.4152802814883,
+            660.3094425396432,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -358.817204070135,
+            658.8094425396432,
+            -3.7305114013230494
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -356.2191278587817,
+            657.3094425396432,
+            -3.7305114013230494
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -355.05054092407227,
+            655.1156425476074,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-37-23_1690492373/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-37-23_1690492373/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..12a003ca306a4c4a5dd80fa8a1f712aef6d80c20
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-37-23_1690492373/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -757.4350729946472,
+            545.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -757.4350729946472,
+            548.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -757.4350729946472,
+            551.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -757.4350729946472,
+            554.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -757.4350729946472,
+            557.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -757.4350729946472,
+            560.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -757.4350729946472,
+            563.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -757.4350729946472,
+            566.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -757.4350729946472,
+            569.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -757.4350729946472,
+            572.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -757.4350729946472,
+            575.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -757.4350729946472,
+            578.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -757.4350729946472,
+            581.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -757.4350729946472,
+            584.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -757.4350729946472,
+            587.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -757.4350729946472,
+            590.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -757.4350729946472,
+            593.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -757.4350729946472,
+            596.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -757.4350729946472,
+            599.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -757.4350729946472,
+            599.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -757.4350729946472,
+            599.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -754.8369967832939,
+            601.2217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -752.2389205719405,
+            602.7217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -749.6408443605872,
+            604.2217342654419,
+            -8.378901057225335
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -749.6408443605872,
+            604.2217342654419,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -748.1408443605872,
+            606.8198104767953,
+            -8.378901057225335
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -746.6408443605872,
+            609.4178866881487,
+            -8.378901057225335
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -746.0297698974609,
+            610.7758102416992,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-37-43_1111800030/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-37-43_1111800030/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ee59673cfa9c2402af048aa4af2067455789879b
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-37-43_1111800030/pose.jsonl
@@ -0,0 +1,391 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            49.08312597974471,
+            268.92426031267394,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            49.08312597974471,
+            265.92426031267394,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            49.08312597974471,
+            262.92426031267394,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            49.08312597974471,
+            259.92426031267394,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            49.08312597974471,
+            256.92426031267394,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            49.08312597974471,
+            253.92426031267394,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            49.08312597974471,
+            250.92426031267394,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            49.08312597974471,
+            247.92426031267394,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            49.08312597974471,
+            244.92426031267394,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            49.08312597974471,
+            241.92426031267394,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            49.08312597974471,
+            238.92426031267394,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            49.08312597974471,
+            235.92426031267394,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            49.08312597974471,
+            232.92426031267394,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            49.08312597974471,
+            229.92426031267394,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            49.08312597974471,
+            226.92426031267394,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            49.08312597974471,
+            223.92426031267394,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            49.08312597974471,
+            220.92426031267394,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            49.08312597974471,
+            217.92426031267394,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            49.08312597974471,
+            214.92426031267394,
+            -3.521136473675263
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            49.08312597974471,
+            214.92426031267394,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            47.58312597974471,
+            212.32618410132062,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            46.08312597974471,
+            209.7281078899673,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            44.58312597974471,
+            207.130031678614,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            43.08312597974471,
+            204.53195546726067,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            41.58312597974471,
+            201.93387925590736,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            40.08312597974471,
+            199.33580304455404,
+            -3.521136473675263
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            40.08312597974471,
+            199.33580304455404,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            40.08312597974471,
+            196.33580304455404,
+            -3.521136473675263
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            40.08312597974471,
+            193.33580304455404,
+            -3.521136473675263
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            39.75375771522522,
+            190.4626169204712,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-38-30_917609663/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-38-30_917609663/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1c3f79c0c863ef5bbc66a1fe0f9da1f46ad9e093
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-38-30_917609663/pose.jsonl
@@ -0,0 +1,430 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            174.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            171.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            168.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            165.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            162.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            159.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            156.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            153.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            150.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            147.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            144.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            141.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            138.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            135.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            132.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            129.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            126.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            123.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            120.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            117.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            114.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            114.23197944437868,
+            285.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            111.63390323302536,
+            286.7029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            109.03582702167205,
+            288.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            106.43775081031873,
+            289.7029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            103.83967459896542,
+            291.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            101.2415983876121,
+            292.7029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            98.64352217625878,
+            294.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            96.04544596490547,
+            295.7029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            93.44736975355215,
+            297.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            90.84929354219884,
+            298.7029109843379,
+            -14.893345768663394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            88.25121733084552,
+            300.2029109843379,
+            -14.893345768663394
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            86.22871541976929,
+            301.40892124176025,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-38-50_1683932587/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-38-50_1683932587/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ee046bf2355ae8b54fc97d29b1da875b4919958c
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-38-50_1683932587/pose.jsonl
@@ -0,0 +1,456 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -191.58285889141428,
+            536.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -194.1809351027676,
+            538.420027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -196.7790113141209,
+            539.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -199.37708752547422,
+            541.420027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -201.97516373682754,
+            542.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -204.57323994818086,
+            544.420027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -207.17131615953417,
+            545.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -209.7693923708875,
+            547.420027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -212.3674685822408,
+            548.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -214.96554479359412,
+            550.420027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -217.56362100494744,
+            551.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -220.16169721630075,
+            553.420027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -222.75977342765407,
+            554.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -225.35784963900738,
+            556.420027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -227.9559258503607,
+            557.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -230.55400206171402,
+            559.420027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -233.15207827306733,
+            560.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -235.75015448442065,
+            562.420027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -238.34823069577396,
+            563.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -240.94630690712728,
+            565.420027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -243.5443831184806,
+            566.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -243.5443831184806,
+            566.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -246.5443831184806,
+            566.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -249.5443831184806,
+            566.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -252.5443831184806,
+            566.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -255.5443831184806,
+            566.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -258.5443831184806,
+            566.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -261.5443831184806,
+            566.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -264.5443831184806,
+            566.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -267.5443831184806,
+            566.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -270.5443831184806,
+            566.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -273.5443831184806,
+            566.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -276.5443831184806,
+            566.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -279.5443831184806,
+            566.920027515872,
+            -0.6362482800344154
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -281.74033641815186,
+            568.0634632110596,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-39-44_499429649/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-39-44_499429649/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8789504b4e6ab5cc5ab5e4986c956adc4cdc934b
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-39-44_499429649/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -852.5840884173301,
+            543.5566394619054,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -851.0840884173301,
+            546.1547156732588,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -849.5840884173301,
+            548.7527918846122,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -848.0840884173301,
+            551.3508680959656,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -846.5840884173301,
+            553.9489443073189,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -845.0840884173301,
+            556.5470205186723,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -843.5840884173301,
+            559.1450967300257,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -842.0840884173301,
+            561.743172941379,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -840.5840884173301,
+            564.3412491527324,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -839.0840884173301,
+            566.9393253640858,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -837.5840884173301,
+            569.5374015754392,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -836.0840884173301,
+            572.1354777867925,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -834.5840884173301,
+            574.7335539981459,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -833.0840884173301,
+            577.3316302094993,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -831.5840884173301,
+            579.9297064208527,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -830.0840884173301,
+            582.527782632206,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -828.5840884173301,
+            585.1258588435594,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -827.0840884173301,
+            587.7239350549128,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -825.5840884173301,
+            590.3220112662661,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -824.0840884173301,
+            592.9200874776195,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -822.5840884173301,
+            595.5181636889729,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -821.0840884173301,
+            598.1162399003263,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -819.5840884173301,
+            600.7143161116796,
+            -8.012757217953876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -818.0840884173301,
+            603.312392323033,
+            -8.012757217953876
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -818.838436126709,
+            605.0398750305176,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-40-0_1282291499/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-40-0_1282291499/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..64c11f469f4537ec4ba927807803a743fe93af07
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-40-0_1282291499/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -687.1603085241967,
+            731.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -684.1603085241967,
+            731.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -681.1603085241967,
+            731.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -678.1603085241967,
+            731.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -675.1603085241967,
+            731.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -672.1603085241967,
+            731.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -669.1603085241967,
+            731.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -666.1603085241967,
+            731.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -663.1603085241967,
+            731.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -660.1603085241967,
+            731.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -657.1603085241967,
+            731.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -654.1603085241967,
+            731.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -651.1603085241967,
+            731.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -648.1603085241967,
+            731.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -645.1603085241967,
+            731.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -642.1603085241967,
+            731.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -639.1603085241967,
+            731.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -636.1603085241967,
+            731.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -633.1603085241967,
+            731.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -630.1603085241967,
+            731.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -630.1603085241967,
+            731.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -627.5622323128434,
+            729.8013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -624.9641561014901,
+            728.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -624.9641561014901,
+            728.3013367885584,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -623.4641561014901,
+            725.7032605772051,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -621.9641561014901,
+            723.1051843658518,
+            -0.3505722273719627
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -620.4641561014901,
+            720.5071081544984,
+            -0.3505722273719627
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -618.2195739746094,
+            720.5517921447754,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-41-12_1122551742/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-41-12_1122551742/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..700d098a0a008469f42785795e3f2e320f35b34e
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-41-12_1122551742/pose.jsonl
@@ -0,0 +1,495 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -589.5040934797772,
+            755.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -589.5040934797772,
+            752.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -589.5040934797772,
+            749.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -589.5040934797772,
+            746.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -589.5040934797772,
+            743.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -589.5040934797772,
+            740.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -589.5040934797772,
+            737.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -589.5040934797772,
+            734.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -589.5040934797772,
+            731.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -589.5040934797772,
+            728.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -589.5040934797772,
+            725.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -589.5040934797772,
+            722.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -589.5040934797772,
+            719.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -589.5040934797772,
+            716.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -589.5040934797772,
+            713.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -589.5040934797772,
+            710.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -589.5040934797772,
+            707.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -589.5040934797772,
+            704.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -589.5040934797772,
+            701.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -589.5040934797772,
+            698.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -589.5040934797772,
+            695.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -589.5040934797772,
+            692.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -589.5040934797772,
+            689.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -589.5040934797772,
+            686.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -589.5040934797772,
+            683.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -589.5040934797772,
+            680.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -589.5040934797772,
+            677.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -589.5040934797772,
+            674.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -589.5040934797772,
+            674.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -589.5040934797772,
+            674.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -592.1021696911305,
+            672.5996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -594.7002459024839,
+            671.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -597.2983221138372,
+            669.5996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -599.8963983251906,
+            668.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -599.8963983251906,
+            668.0996677709634,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -601.3963983251906,
+            665.50159155961,
+            -3.0492678657909877
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -602.8963983251906,
+            662.9035153482566,
+            -3.0492678657909877
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -604.2860908508301,
+            659.8240394592285,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-42-42_1666231349/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-42-42_1666231349/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..50455f39c766bd1761fa6b02fbc3b07733c13927
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-42-42_1666231349/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -656.2674846610684,
+            725.1403893743563,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -654.7674846610684,
+            727.7384655857097,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -653.2674846610684,
+            730.3365417970631,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -651.7674846610684,
+            732.9346180084165,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -650.2674846610684,
+            735.5326942197698,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -648.7674846610684,
+            738.1307704311232,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -647.2674846610684,
+            740.7288466424766,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -645.7674846610684,
+            743.32692285383,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -644.2674846610684,
+            745.9249990651833,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -642.7674846610684,
+            748.5230752765367,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -641.2674846610684,
+            751.1211514878901,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -639.7674846610684,
+            753.7192276992434,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -638.2674846610684,
+            756.3173039105968,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -636.7674846610684,
+            758.9153801219502,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -635.2674846610684,
+            761.5134563333036,
+            -7.158245498246423
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -635.2674846610684,
+            761.5134563333036,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -635.2674846610684,
+            764.5134563333036,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -635.2674846610684,
+            767.5134563333036,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -635.2674846610684,
+            770.5134563333036,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -635.2674846610684,
+            773.5134563333036,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -635.2674846610684,
+            776.5134563333036,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -635.2674846610684,
+            779.5134563333036,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -635.2674846610684,
+            782.5134563333036,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -635.2674846610684,
+            785.5134563333036,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -635.2674846610684,
+            788.5134563333036,
+            -7.158245498246423
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -635.2674846610684,
+            791.5134563333036,
+            -7.158245498246423
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -636.3482284545898,
+            792.3813362121582,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-43-41_625843881/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-43-41_625843881/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f1ae6ad3bb4855c7da1b4665590f76de87456a32
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-43-41_625843881/pose.jsonl
@@ -0,0 +1,443 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -124.76981403160957,
+            529.0466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -127.36789024296289,
+            530.5466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -129.9659664543162,
+            532.0466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -132.56404266566952,
+            533.5466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -135.16211887702283,
+            535.0466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -137.76019508837615,
+            536.5466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -140.35827129972947,
+            538.0466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -142.95634751108278,
+            539.5466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -145.5544237224361,
+            541.0466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -148.15249993378941,
+            542.5466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -150.75057614514273,
+            544.0466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -153.34865235649605,
+            545.5466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -155.94672856784936,
+            547.0466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -158.54480477920268,
+            548.5466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -161.142880990556,
+            550.0466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -163.7409572019093,
+            551.5466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -166.33903341326263,
+            553.0466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -168.93710962461594,
+            554.5466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -171.53518583596926,
+            556.0466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -174.13326204732257,
+            557.5466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -176.7313382586759,
+            559.0466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -179.3294144700292,
+            560.5466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -181.92749068138252,
+            562.0466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -184.52556689273584,
+            563.5466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -187.12364310408915,
+            565.0466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -189.72171931544247,
+            566.5466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -192.3197955267958,
+            568.0466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -194.9178717381491,
+            569.5466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -197.51594794950242,
+            571.0466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -200.11402416085573,
+            572.5466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -202.71210037220905,
+            574.0466849396669,
+            -1.6152813800738954
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -202.71210037220905,
+            574.0466849396669,
+            -1.6152813800738954
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -204.21210037220905,
+            576.6447611510202,
+            -1.6152813800738954
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -206.81848335266113,
+            579.483003616333,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-44-0_532495011/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-44-0_532495011/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b0ef343c02c517c252546f3f7e6a27f399cbb1e0
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-44-0_532495011/pose.jsonl
@@ -0,0 +1,469 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -163.4079686340644,
+            590.3720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -166.0060448454177,
+            588.8720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -168.60412105677102,
+            587.3720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -171.20219726812434,
+            585.8720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -173.80027347947765,
+            584.3720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -176.39834969083097,
+            582.8720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -178.99642590218428,
+            581.3720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -181.5945021135376,
+            579.8720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -184.19257832489092,
+            578.3720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -186.79065453624423,
+            576.8720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -189.38873074759755,
+            575.3720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -191.98680695895087,
+            573.8720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -194.58488317030418,
+            572.3720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -197.1829593816575,
+            570.8720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -199.7810355930108,
+            569.3720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -202.37911180436413,
+            567.8720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -204.97718801571745,
+            566.3720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -207.57526422707076,
+            564.8720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -210.17334043842408,
+            563.3720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -212.7714166497774,
+            561.8720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -215.3694928611307,
+            560.3720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -217.96756907248403,
+            558.8720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -220.56564528383734,
+            557.3720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -223.16372149519066,
+            555.8720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -225.76179770654397,
+            554.3720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -228.3598739178973,
+            552.8720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -230.9579501292506,
+            551.3720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -233.55602634060392,
+            549.8720273347116,
+            -1.6435046068130177
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -233.55602634060392,
+            549.8720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -236.55602634060392,
+            549.8720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -239.55602634060392,
+            549.8720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -242.55602634060392,
+            549.8720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -245.55602634060392,
+            549.8720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -248.55602634060392,
+            549.8720273347116,
+            -1.6435046068130177
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -251.55602634060392,
+            549.8720273347116,
+            -1.6435046068130177
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -254.11329460144043,
+            550.4007053375244,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-45-20_1561812722/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-45-20_1561812722/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..58fd06d94d0c185299e02cb886f4234b71537d3d
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-45-20_1561812722/pose.jsonl
@@ -0,0 +1,430 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -33.91804565121248,
+            223.55907816046977,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -35.41804565121248,
+            226.15715437182308,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -36.91804565121248,
+            228.7552305831764,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -38.41804565121248,
+            231.35330679452971,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -39.91804565121248,
+            233.95138300588303,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -41.41804565121248,
+            236.54945921723635,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -42.91804565121248,
+            239.14753542858966,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -44.41804565121248,
+            241.74561163994298,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -45.91804565121248,
+            244.3436878512963,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -47.41804565121248,
+            246.9417640626496,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -48.91804565121248,
+            249.53984027400293,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -50.41804565121248,
+            252.13791648535624,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -51.91804565121248,
+            254.73599269670956,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -53.41804565121248,
+            257.3340689080629,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -54.91804565121248,
+            259.9321451194162,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -56.41804565121248,
+            262.5302213307695,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -57.91804565121248,
+            265.1282975421228,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -59.41804565121248,
+            267.72637375347614,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -60.91804565121248,
+            270.32444996482945,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -62.41804565121248,
+            272.92252617618277,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -63.91804565121248,
+            275.5206023875361,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -65.41804565121248,
+            278.1186785988894,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -66.91804565121248,
+            280.7167548102427,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -68.41804565121248,
+            283.31483102159604,
+            -2.2144000512329853
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -68.41804565121248,
+            283.31483102159604,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -68.41804565121248,
+            286.31483102159604,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -68.41804565121248,
+            289.31483102159604,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -68.41804565121248,
+            292.31483102159604,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -68.41804565121248,
+            295.31483102159604,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -68.41804565121248,
+            298.31483102159604,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -68.41804565121248,
+            301.31483102159604,
+            -2.2144000512329853
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -68.41804565121248,
+            304.31483102159604,
+            -2.2144000512329853
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -67.61026430130005,
+            306.6483554840088,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-46-42_2017881519/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-46-42_2017881519/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..936e2dcfa9cb1f111c38b348f650434169cfb943
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-46-42_2017881519/pose.jsonl
@@ -0,0 +1,391 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -4.443218853670167,
+            117.32071361721488,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -2.943218853670167,
+            119.9187898285682,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1.4432188536701664,
+            122.51686603992151,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            0.056781146329834,
+            125.11494225127483,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1.5567811463298344,
+            127.71301846262814,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            3.056781146329835,
+            130.31109467398147,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            4.556781146329835,
+            132.9091708853348,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            6.056781146329836,
+            135.5072470966881,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965974
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            7.556781146329836,
+            138.10532330804142,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            9.056781146329836,
+            140.70339951939474,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            10.556781146329836,
+            143.30147573074805,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            12.056781146329836,
+            145.89955194210137,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            13.556781146329836,
+            148.49762815345468,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            15.056781146329836,
+            151.095704364808,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            16.556781146329836,
+            153.69378057616132,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            18.056781146329836,
+            156.29185678751463,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            19.556781146329836,
+            158.88993299886795,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            21.056781146329836,
+            161.48800921022126,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            22.556781146329836,
+            164.08608542157458,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            24.056781146329836,
+            166.6841616329279,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            25.556781146329836,
+            169.2822378442812,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            27.056781146329836,
+            171.88031405563453,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            28.556781146329836,
+            174.47839026698784,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            30.056781146329836,
+            177.07646647834116,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            31.556781146329836,
+            179.67454268969448,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            33.05678114632984,
+            182.2726189010478,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965967
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            34.55678114632984,
+            184.8706951124011,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            36.05678114632984,
+            187.46877132375442,
+            -12.625526855784443
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            37.55678114632984,
+            190.06684753510774,
+            -12.625526855784443
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            39.75375771522522,
+            190.4626169204712,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-47-26_1549495354/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-47-26_1549495354/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5070027981d4e3b29f263b88b634325a46a23215
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-47-26_1549495354/pose.jsonl
@@ -0,0 +1,404 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -265.48894014246423,
+            546.6894020817493,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -266.98894014246423,
+            544.0913258703961,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -268.48894014246423,
+            541.4932496590427,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -269.98894014246423,
+            538.8951734476893,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -271.48894014246423,
+            536.297097236336,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -272.98894014246423,
+            533.6990210249826,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -274.48894014246423,
+            531.1009448136292,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -275.98894014246423,
+            528.5028686022758,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -277.48894014246423,
+            525.9047923909225,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -278.98894014246423,
+            523.3067161795691,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -280.48894014246423,
+            520.7086399682157,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -281.98894014246423,
+            518.1105637568623,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -283.48894014246423,
+            515.512487545509,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -284.98894014246423,
+            512.9144113341556,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -286.48894014246423,
+            510.3163351228023,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -287.98894014246423,
+            507.71825891144897,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -289.48894014246423,
+            505.12018270009565,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -290.98894014246423,
+            502.52210648874234,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -292.48894014246423,
+            499.924030277389,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -293.98894014246423,
+            497.3259540660357,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -295.48894014246423,
+            494.7278778546824,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -296.98894014246423,
+            492.1298016433291,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -298.48894014246423,
+            489.53172543197576,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -299.98894014246423,
+            486.93364922062244,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -301.48894014246423,
+            484.3355730092691,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -302.98894014246423,
+            481.7374967979158,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -304.48894014246423,
+            479.1394205865625,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -305.98894014246423,
+            476.5413443752092,
+            -8.687267158608329
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -305.98894014246423,
+            476.5413443752092,
+            -8.687267158608329
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -305.98894014246423,
+            473.5413443752092,
+            -8.687267158608329
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -306.0643539428711,
+            470.07677459716797,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-51-37_304505404/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-51-37_304505404/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..97b5a3eef75c38537e1ee246b5ee5aa33ef6e953
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-51-37_304505404/pose.jsonl
@@ -0,0 +1,469 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -539.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -542.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -545.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -548.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -551.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -554.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -557.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -560.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -563.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -566.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -569.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -572.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -575.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -578.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -581.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -584.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -587.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -590.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -593.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -596.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -599.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -602.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -605.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -608.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -611.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -614.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -617.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -620.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -620.5267476607047,
+            269.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -623.124823872058,
+            270.8133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -625.7229000834113,
+            272.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -628.3209762947647,
+            273.8133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -630.9190525061181,
+            275.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -633.5171287174715,
+            276.8133554588212,
+            -10.477557010812383
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -636.1152049288248,
+            278.3133554588212,
+            -10.477557010812383
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -637.7749824523926,
+            276.4634304046631,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-52-25_2002992734/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-52-25_2002992734/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..496f1a518ba70f15fa838740a1c80f299a848fa8
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-52-25_2002992734/pose.jsonl
@@ -0,0 +1,430 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            14.725974490004987,
+            265.087781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            12.12789827865167,
+            266.587781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            9.529822067298355,
+            268.087781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            6.931745855945039,
+            269.587781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            4.333669644591723,
+            271.087781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1.7355934332384066,
+            272.587781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -0.8624827781149094,
+            274.087781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -3.4605589894682254,
+            275.587781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -6.058635200821541,
+            277.087781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -8.656711412174857,
+            278.587781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -11.254787623528173,
+            280.087781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -13.85286383488149,
+            281.587781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -16.450940046234805,
+            283.087781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -19.04901625758812,
+            284.587781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -21.647092468941437,
+            286.087781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -24.245168680294753,
+            287.587781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -26.84324489164807,
+            289.087781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -29.441321103001385,
+            290.587781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -32.0393973143547,
+            292.087781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -34.63747352570802,
+            293.587781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -37.23554973706133,
+            295.087781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -39.83362594841465,
+            296.587781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -42.431702159767966,
+            298.087781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -45.02977837112128,
+            299.587781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -47.6278545824746,
+            301.087781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -50.225930793827914,
+            302.587781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -52.82400700518123,
+            304.087781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -55.422083216534546,
+            305.587781795492,
+            -2.9569462091675547
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -55.422083216534546,
+            305.587781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -58.422083216534546,
+            305.587781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -61.422083216534546,
+            305.587781795492,
+            -2.9569462091675547
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -64.42208321653455,
+            305.587781795492,
+            -2.9569462091675547
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -67.61026430130005,
+            306.6483554840088,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-53-16_1521740435/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-53-16_1521740435/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..667a7b3dda170ac2c7c3afa249720d92eefc5cec
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-53-16_1521740435/pose.jsonl
@@ -0,0 +1,391 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -498.53329655519144,
+            151.12911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -495.53329655519144,
+            151.12911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -492.53329655519144,
+            151.12911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -489.53329655519144,
+            151.12911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -486.53329655519144,
+            151.12911438848474,
+            -9.082287461001716
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -486.53329655519144,
+            151.12911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -483.9352203438381,
+            149.62911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -481.3371441324848,
+            148.12911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -478.7390679211315,
+            146.62911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -476.1409917097782,
+            145.12911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -473.54291549842486,
+            143.62911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -470.94483928707155,
+            142.12911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -468.34676307571823,
+            140.62911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -465.7486868643649,
+            139.12911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -463.1506106530116,
+            137.62911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -460.5525344416583,
+            136.12911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -457.95445823030497,
+            134.62911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -455.35638201895165,
+            133.12911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -452.75830580759833,
+            131.62911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -450.160229596245,
+            130.12911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -447.5621533848917,
+            128.62911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -444.9640771735384,
+            127.12911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -442.36600096218507,
+            125.62911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -439.76792475083175,
+            124.12911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -437.16984853947844,
+            122.62911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -434.5717723281251,
+            121.12911438848474,
+            -9.082287461001716
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -434.5717723281251,
+            121.12911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -431.5717723281251,
+            121.12911438848474,
+            -9.082287461001716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -428.5717723281251,
+            121.12911438848474,
+            -9.082287461001716
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -425.6671447753906,
+            120.61265325546265,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-54-36_332702450/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-54-36_332702450/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e31df3e25efad76bcbf8fd6b29da1975bc32a65d
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-54-36_332702450/pose.jsonl
@@ -0,0 +1,430 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -623.8651561146132,
+            220.66025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -620.8651561146132,
+            220.66025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -617.8651561146132,
+            220.66025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -614.8651561146132,
+            220.66025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -611.8651561146132,
+            220.66025710443444,
+            -6.887000584278439
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -611.8651561146132,
+            220.66025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -609.2670799032599,
+            222.16025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -606.6690036919065,
+            223.66025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -604.0709274805531,
+            225.16025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -601.4728512691997,
+            226.66025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -598.8747750578464,
+            228.16025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -596.276698846493,
+            229.66025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -593.6786226351396,
+            231.16025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -591.0805464237862,
+            232.66025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -588.4824702124329,
+            234.16025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -585.8843940010795,
+            235.66025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -583.2863177897261,
+            237.16025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -580.6882415783728,
+            238.66025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -578.0901653670194,
+            240.16025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -575.492089155666,
+            241.66025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -572.8940129443126,
+            243.16025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -570.2959367329593,
+            244.66025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -567.6978605216059,
+            246.16025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -565.0997843102525,
+            247.66025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -562.5017080988991,
+            249.16025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -559.9036318875458,
+            250.66025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -557.3055556761924,
+            252.16025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -554.707479464839,
+            253.66025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -552.1094032534857,
+            255.16025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -549.5113270421323,
+            256.66025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -546.9132508307789,
+            258.16025710443444,
+            -6.887000584278439
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -544.3151746194255,
+            259.66025710443444,
+            -6.887000584278439
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -544.2595748901367,
+            261.32396507263184,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-56-45_1531585205/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-56-45_1531585205/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..550704f0ae2d5398288e9458f79b949180233fa2
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-56-45_1531585205/pose.jsonl
@@ -0,0 +1,443 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -644.8695769994519,
+            746.1355722745939,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -643.3695769994519,
+            743.5374960632405,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -641.8695769994519,
+            740.9394198518871,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -640.3695769994519,
+            738.3413436405338,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -638.8695769994519,
+            735.7432674291804,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -637.3695769994519,
+            733.145191217827,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -635.8695769994519,
+            730.5471150064736,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -634.3695769994519,
+            727.9490387951203,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -632.8695769994519,
+            725.3509625837669,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -631.3695769994519,
+            722.7528863724135,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -629.8695769994519,
+            720.1548101610601,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -628.3695769994519,
+            717.5567339497068,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -626.8695769994519,
+            714.9586577383534,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -625.3695769994519,
+            712.360581527,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -623.8695769994519,
+            709.7625053156466,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -622.3695769994519,
+            707.1644291042933,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -620.8695769994519,
+            704.5663528929399,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -619.3695769994519,
+            701.9682766815865,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -617.8695769994519,
+            699.3702004702332,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -616.3695769994519,
+            696.7721242588798,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -614.8695769994519,
+            694.1740480475264,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -613.3695769994519,
+            691.575971836173,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -611.8695769994519,
+            688.9778956248197,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -610.3695769994519,
+            686.3798194134663,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -608.8695769994519,
+            683.7817432021129,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -607.3695769994519,
+            681.1836669907595,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -605.8695769994519,
+            678.5855907794062,
+            -0.25662468848151576
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -605.8695769994519,
+            678.5855907794062,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -605.8695769994519,
+            675.5855907794062,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -605.8695769994519,
+            672.5855907794062,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -605.8695769994519,
+            669.5855907794062,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -605.8695769994519,
+            666.5855907794062,
+            -0.25662468848151576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -605.8695769994519,
+            663.5855907794062,
+            -0.25662468848151576
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -604.2860908508301,
+            659.8240394592285,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-56-6_1390598089/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-56-6_1390598089/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7739f5251893193256accd1f34f6da162d4f2181
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-56-6_1390598089/pose.jsonl
@@ -0,0 +1,456 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -260.4761230734007,
+            117.0973728649165,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -257.87804686204737,
+            118.5973728649165,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -255.27997065069405,
+            120.0973728649165,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -252.68189443934074,
+            121.5973728649165,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -250.08381822798742,
+            123.0973728649165,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -247.4857420166341,
+            124.5973728649165,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -244.8876658052808,
+            126.0973728649165,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -242.28958959392747,
+            127.5973728649165,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -239.69151338257416,
+            129.09737286491648,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982947
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -237.09343717122084,
+            130.59737286491648,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -234.49536095986753,
+            132.09737286491648,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -231.8972847485142,
+            133.59737286491648,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -229.2992085371609,
+            135.09737286491648,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -226.70113232580758,
+            136.59737286491648,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -224.10305611445426,
+            138.09737286491648,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -221.50497990310095,
+            139.59737286491648,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -218.90690369174763,
+            141.09737286491648,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -216.3088274803943,
+            142.59737286491648,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -213.710751269041,
+            144.09737286491648,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -211.11267505768768,
+            145.59737286491648,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -208.51459884633437,
+            147.09737286491648,
+            -12.436859168160638
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -208.51459884633437,
+            147.09737286491648,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -207.01459884633437,
+            149.6954490762698,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -205.51459884633437,
+            152.2935252876231,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -204.01459884633437,
+            154.89160149897643,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -202.51459884633437,
+            157.48967771032974,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -201.01459884633437,
+            160.08775392168306,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -199.51459884633437,
+            162.68583013303638,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -198.01459884633437,
+            165.2839063443897,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -196.51459884633437,
+            167.881982555743,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -195.01459884633437,
+            170.48005876709632,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -193.51459884633437,
+            173.07813497844964,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -192.01459884633437,
+            175.67621118980296,
+            -12.436859168160638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -190.51459884633437,
+            178.27428740115627,
+            -12.436859168160638
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -189.65012454986572,
+            180.22162532806396,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-57-39_933596911/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-57-39_933596911/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ebaeb1d2997eeac5c70e8c035741508c5ebc82ae
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-57-39_933596911/pose.jsonl
@@ -0,0 +1,443 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -340.44264153197173,
+            726.8580861420953,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -338.94264153197173,
+            724.260009930742,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -337.44264153197173,
+            721.6619337193886,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -335.94264153197173,
+            719.0638575080352,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -334.44264153197173,
+            716.4657812966818,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -332.94264153197173,
+            713.8677050853285,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -331.44264153197173,
+            711.2696288739751,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -329.94264153197173,
+            708.6715526626217,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -328.44264153197173,
+            706.0734764512683,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -326.94264153197173,
+            703.475400239915,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -325.44264153197173,
+            700.8773240285616,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -323.94264153197173,
+            698.2792478172082,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -322.44264153197173,
+            695.6811716058548,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -320.94264153197173,
+            693.0830953945015,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -319.44264153197173,
+            690.4850191831481,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -317.94264153197173,
+            687.8869429717947,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -316.44264153197173,
+            685.2888667604414,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -314.94264153197173,
+            682.690790549088,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -313.44264153197173,
+            680.0927143377346,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -311.94264153197173,
+            677.4946381263812,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -310.44264153197173,
+            674.8965619150279,
+            -0.6536366585778595
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -310.44264153197173,
+            674.8965619150279,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -307.8445653206184,
+            673.3965619150279,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -305.2464891092651,
+            671.8965619150279,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -302.6484128979118,
+            670.3965619150279,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -300.05033668655847,
+            668.8965619150279,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -297.45226047520515,
+            667.3965619150279,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -294.85418426385183,
+            665.8965619150279,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -292.2561080524985,
+            664.3965619150279,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -289.6580318411452,
+            662.8965619150279,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -287.0599556297919,
+            661.3965619150279,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -284.46187941843857,
+            659.8965619150279,
+            -0.6536366585778595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -281.86380320708525,
+            658.3965619150279,
+            -0.6536366585778595
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -280.3515796661377,
+            656.0998382568359,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-59-32_703571522/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-59-32_703571522/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..57e518fd6c255bf52fd9c5b28e38c9d8bce7756e
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-59-32_703571522/pose.jsonl
@@ -0,0 +1,469 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -281.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -278.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -275.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -272.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -269.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -266.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -263.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -260.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -257.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -254.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -251.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -248.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -245.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -242.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -239.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -236.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -233.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -230.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -227.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -224.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -221.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -218.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -215.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -212.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -209.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -206.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -203.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -200.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -197.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -197.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -197.1865558636357,
+            191.11726553725896,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -195.6865558636357,
+            188.51918932590564,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -194.1865558636357,
+            185.92111311455233,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -192.6865558636357,
+            183.323036903199,
+            -4.425596116935388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -191.1865558636357,
+            180.7249606918457,
+            -4.425596116935388
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -189.65012454986572,
+            180.22162532806396,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-59-50_2117303605/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-59-50_2117303605/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2423b356a951a8931bcb77314c3016d67cd0e899
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_4-59-50_2117303605/pose.jsonl
@@ -0,0 +1,482 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -933.1338396592014,
+            272.5192553584985,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -930.1338396592014,
+            272.5192553584985,
+            -6.0488803928339046
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -930.1338396592014,
+            272.5192553584985,
+            -6.0488803928339046
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -930.1338396592014,
+            272.5192553584985,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -928.6338396592014,
+            275.11733156985184,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -927.1338396592014,
+            277.71540778120516,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -925.6338396592014,
+            280.3134839925585,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -924.1338396592014,
+            282.9115602039118,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -922.6338396592014,
+            285.5096364152651,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -921.1338396592014,
+            288.1077126266184,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -919.6338396592014,
+            290.70578883797174,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -918.1338396592014,
+            293.30386504932505,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -916.6338396592014,
+            295.90194126067837,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -915.1338396592014,
+            298.5000174720317,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -913.6338396592014,
+            301.098093683385,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -912.1338396592014,
+            303.6961698947383,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -910.6338396592014,
+            306.29424610609163,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -909.1338396592014,
+            308.89232231744495,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -907.6338396592014,
+            311.49039852879827,
+            -6.0488803928339046
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -907.6338396592014,
+            311.49039852879827,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -905.035763447848,
+            312.99039852879827,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -902.4376872364946,
+            314.49039852879827,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -899.8396110251413,
+            315.99039852879827,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -897.2415348137879,
+            317.49039852879827,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -894.6434586024345,
+            318.99039852879827,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -892.0453823910811,
+            320.49039852879827,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -889.4473061797278,
+            321.99039852879827,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -886.8492299683744,
+            323.49039852879827,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -884.251153757021,
+            324.99039852879827,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -881.6530775456677,
+            326.49039852879827,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -879.0550013343143,
+            327.99039852879827,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -876.4569251229609,
+            329.49039852879827,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -873.8588489116075,
+            330.99039852879827,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -871.2607727002542,
+            332.49039852879827,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -868.6626964889008,
+            333.99039852879827,
+            -6.0488803928339046
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -866.0646202775474,
+            335.49039852879827,
+            -6.0488803928339046
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -865.4820938110352,
+            338.6921920776367,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-0-13_529302443/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-0-13_529302443/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..49aa59b8d2d63b0bf4bf1e4f663fc9797e7e3338
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-0-13_529302443/pose.jsonl
@@ -0,0 +1,352 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -363.9758413209237,
+            550.7635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -366.573917532277,
+            552.2635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -369.1719937436303,
+            553.7635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -371.7700699549836,
+            555.2635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -374.36814616633694,
+            556.7635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -376.96622237769026,
+            558.2635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -379.5642985890436,
+            559.7635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -382.1623748003969,
+            561.2635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -384.7604510117502,
+            562.7635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -387.3585272231035,
+            564.2635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -389.95660343445684,
+            565.7635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -392.55467964581015,
+            567.2635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -395.15275585716347,
+            568.7635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -397.7508320685168,
+            570.2635417332144,
+            -9.324063489393428
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -397.7508320685168,
+            570.2635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -400.7508320685168,
+            570.2635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -403.7508320685168,
+            570.2635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -406.7508320685168,
+            570.2635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -409.7508320685168,
+            570.2635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -412.7508320685168,
+            570.2635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -415.7508320685168,
+            570.2635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -418.7508320685168,
+            570.2635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -421.7508320685168,
+            570.2635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -424.7508320685168,
+            570.2635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -427.7508320685168,
+            570.2635417332144,
+            -9.324063489393428
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -430.7508320685168,
+            570.2635417332144,
+            -9.324063489393428
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -432.77319145202637,
+            570.0605564117432,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-10-23_1487105994/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-10-23_1487105994/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0dd61483dbad2185855896fb72b2c597a5aa6ee8
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-10-23_1487105994/pose.jsonl
@@ -0,0 +1,482 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -270.0617870828276,
+            725.5033210165597,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -271.5617870828276,
+            722.9052448052064,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -273.0617870828276,
+            720.307168593853,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -274.5617870828276,
+            717.7090923824996,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -276.0617870828276,
+            715.1110161711463,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -277.5617870828276,
+            712.5129399597929,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -279.0617870828276,
+            709.9148637484395,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -280.5617870828276,
+            707.3167875370862,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -282.0617870828276,
+            704.7187113257328,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -283.5617870828276,
+            702.1206351143794,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -285.0617870828276,
+            699.522558903026,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -286.5617870828276,
+            696.9244826916727,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -288.0617870828276,
+            694.3264064803193,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -289.5617870828276,
+            691.7283302689659,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -291.0617870828276,
+            689.1302540576125,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -292.5617870828276,
+            686.5321778462592,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -294.0617870828276,
+            683.9341016349058,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -295.5617870828276,
+            681.3360254235524,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -297.0617870828276,
+            678.737949212199,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -298.5617870828276,
+            676.1398730008457,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -300.0617870828276,
+            673.5417967894923,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -301.5617870828276,
+            670.9437205781389,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -303.0617870828276,
+            668.3456443667856,
+            -2.2274916785822043
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -303.0617870828276,
+            668.3456443667856,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -305.6598632941809,
+            666.8456443667856,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -308.25793950553424,
+            665.3456443667856,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -310.85601571688755,
+            663.8456443667856,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -313.45409192824087,
+            662.3456443667856,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -316.0521681395942,
+            660.8456443667856,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -318.6502443509475,
+            659.3456443667856,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -321.2483205623008,
+            657.8456443667856,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -323.84639677365413,
+            656.3456443667856,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -326.44447298500745,
+            654.8456443667856,
+            -2.2274916785822043
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -326.44447298500745,
+            654.8456443667856,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -327.94447298500745,
+            652.2475681554322,
+            -2.2274916785822043
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -329.44447298500745,
+            649.6494919440788,
+            -2.2274916785822043
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -330.1418514251709,
+            648.1967735290527,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-12-16_1090099484/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-12-16_1090099484/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..86cb6da200f9cca3f08f022dd0c1bdac33b0aa08
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-12-16_1090099484/pose.jsonl
@@ -0,0 +1,391 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -611.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -614.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -617.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -620.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -623.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -626.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -629.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -632.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -635.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -638.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -641.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -644.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -647.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -650.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -653.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -656.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -659.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -662.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -665.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -668.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -671.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -674.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -677.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -680.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -680.8973809440133,
+            174.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -683.4954571553667,
+            172.9972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -686.0935333667201,
+            171.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -688.6916095780734,
+            169.9972089348413,
+            -13.826599806346213
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -691.2896857894268,
+            168.4972089348413,
+            -13.826599806346213
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -691.2120475769043,
+            166.81586360931396,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-12-43_86086317/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-12-43_86086317/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..512bea5472bbaacfe3361e49f9e54119ca41e337
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-12-43_86086317/pose.jsonl
@@ -0,0 +1,417 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -136.5706881940042,
+            113.40174324805756,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -138.0706881940042,
+            115.99981945941087,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -139.5706881940042,
+            118.59789567076419,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -141.0706881940042,
+            121.1959718821175,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -142.5706881940042,
+            123.79404809347082,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -144.0706881940042,
+            126.39212430482414,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -145.5706881940042,
+            128.99020051617745,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -147.0706881940042,
+            131.58827672753077,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -148.5706881940042,
+            134.18635293888408,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -150.0706881940042,
+            136.7844291502374,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -151.5706881940042,
+            139.38250536159072,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -153.0706881940042,
+            141.98058157294403,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -154.5706881940042,
+            144.57865778429735,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -156.0706881940042,
+            147.17673399565066,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -157.5706881940042,
+            149.77481020700398,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -159.0706881940042,
+            152.3728864183573,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -160.5706881940042,
+            154.9709626297106,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -162.0706881940042,
+            157.56903884106393,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -163.5706881940042,
+            160.16711505241724,
+            -2.4657230026278967
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -163.5706881940042,
+            160.16711505241724,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -166.1687644053575,
+            161.66711505241724,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -168.76684061671082,
+            163.16711505241724,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -171.36491682806414,
+            164.66711505241724,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -173.96299303941746,
+            166.16711505241724,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -176.56106925077077,
+            167.66711505241724,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -179.1591454621241,
+            169.16711505241724,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -181.7572216734774,
+            170.66711505241724,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -184.35529788483072,
+            172.16711505241724,
+            -2.4657230026278967
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -184.35529788483072,
+            172.16711505241724,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -185.85529788483072,
+            174.76519126377056,
+            -2.4657230026278967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -187.35529788483072,
+            177.36326747512388,
+            -2.4657230026278967
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -189.65012454986572,
+            180.22162532806396,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-13-15_1219933931/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-13-15_1219933931/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9193bef7ee839258b656cab8040a374bb327cfa8
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-13-15_1219933931/pose.jsonl
@@ -0,0 +1,482 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -224.21252178741145,
+            574.8602190962863,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -225.71252178741145,
+            577.4582953076397,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -227.21252178741145,
+            580.056371518993,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -228.71252178741145,
+            582.6544477303464,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -230.21252178741145,
+            585.2525239416998,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -231.71252178741145,
+            587.8506001530532,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -233.21252178741145,
+            590.4486763644065,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -234.71252178741145,
+            593.0467525757599,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -236.21252178741145,
+            595.6448287871133,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -237.71252178741145,
+            598.2429049984667,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -239.21252178741145,
+            600.84098120982,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -240.71252178741145,
+            603.4390574211734,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -242.21252178741145,
+            606.0371336325268,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -243.71252178741145,
+            608.6352098438801,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -245.21252178741145,
+            611.2332860552335,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -246.71252178741145,
+            613.8313622665869,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -248.21252178741145,
+            616.4294384779403,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -249.71252178741145,
+            619.0275146892936,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -251.21252178741145,
+            621.625590900647,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -252.71252178741145,
+            624.2236671120004,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -254.21252178741145,
+            626.8217433233538,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -255.71252178741145,
+            629.4198195347071,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -257.21252178741145,
+            632.0178957460605,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -258.71252178741145,
+            634.6159719574139,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -260.21252178741145,
+            637.2140481687672,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -261.71252178741145,
+            639.8121243801206,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -263.21252178741145,
+            642.410200591474,
+            -8.382840922255497
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -263.21252178741145,
+            642.410200591474,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -265.81059799876476,
+            643.910200591474,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -268.4086742101181,
+            645.410200591474,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -271.0067504214714,
+            646.910200591474,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -273.6048266328247,
+            648.410200591474,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -276.202902844178,
+            649.910200591474,
+            -8.382840922255497
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -276.202902844178,
+            649.910200591474,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -277.702902844178,
+            652.5082768028274,
+            -8.382840922255497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -279.202902844178,
+            655.1063530141807,
+            -8.382840922255497
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -280.3515796661377,
+            656.0998382568359,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-13-57_145186709/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-13-57_145186709/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6ad93951b5585e3d416597acbe11da5c1a3ea5b4
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-13-57_145186709/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -631.6242805280665,
+            212.8652497993421,
+            -11.569894049387415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -631.6242805280665,
+            215.8652497993421,
+            -11.569894049387415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -631.6242805280665,
+            218.8652497993421,
+            -11.569894049387415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -631.6242805280665,
+            221.8652497993421,
+            -11.569894049387415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -631.6242805280665,
+            224.8652497993421,
+            -11.569894049387415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -631.6242805280665,
+            227.8652497993421,
+            -11.569894049387415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -631.6242805280665,
+            230.8652497993421,
+            -11.569894049387415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -631.6242805280665,
+            233.8652497993421,
+            -11.569894049387415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -631.6242805280665,
+            236.8652497993421,
+            -11.569894049387415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -631.6242805280665,
+            239.8652497993421,
+            -11.569894049387415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -631.6242805280665,
+            242.8652497993421,
+            -11.569894049387415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -631.6242805280665,
+            245.8652497993421,
+            -11.569894049387415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -631.6242805280665,
+            248.8652497993421,
+            -11.569894049387415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -631.6242805280665,
+            251.8652497993421,
+            -11.569894049387415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -631.6242805280665,
+            254.8652497993421,
+            -11.569894049387415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -631.6242805280665,
+            257.8652497993421,
+            -11.569894049387415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -631.6242805280665,
+            260.8652497993421,
+            -11.569894049387415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -631.6242805280665,
+            263.8652497993421,
+            -11.569894049387415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -631.6242805280665,
+            266.8652497993421,
+            -11.569894049387415
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -631.6242805280665,
+            266.8652497993421,
+            -11.569894049387415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -633.1242805280665,
+            269.4633260106954,
+            -11.569894049387415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -634.6242805280665,
+            272.06140222204874,
+            -11.569894049387415
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -636.1242805280665,
+            274.65947843340206,
+            -11.569894049387415
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -637.7749824523926,
+            276.4634304046631,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-14-16_724025165/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-14-16_724025165/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..aea3981cc8f2c90fd9be6b54ac7b59f928e4e4b7
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-14-16_724025165/pose.jsonl
@@ -0,0 +1,404 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -796.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -793.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -790.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -787.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -784.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -781.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -778.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -775.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -772.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -769.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -766.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -763.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -760.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -757.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -754.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -751.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -748.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -745.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -742.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -739.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -736.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -733.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -730.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -727.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -724.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -721.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -718.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -715.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -712.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -709.0855721387964,
+            455.03483979158483,
+            -8.536726105058712
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -705.5029983520508,
+            454.1358337402344,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-15-47_1907712995/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-15-47_1907712995/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..18bbf5ffe1cb0fdb3d5cde44919702b716d0d236
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-15-47_1907712995/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            12.537194238305865,
+            27.212368988170404,
+            -7.287588391620673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            15.537194238305865,
+            27.212368988170404,
+            -7.287588391620673
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            15.537194238305865,
+            27.212368988170404,
+            -7.287588391620673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            18.13527044965918,
+            25.712368988170404,
+            -7.287588391620673
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            18.13527044965918,
+            25.712368988170404,
+            -7.287588391620673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            19.63527044965918,
+            23.114292776817088,
+            -7.287588391620673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            21.13527044965918,
+            20.516216565463772,
+            -7.287588391620673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            22.63527044965918,
+            17.918140354110456,
+            -7.287588391620673
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            22.63527044965918,
+            17.918140354110456,
+            -7.287588391620673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            25.233346661012497,
+            16.418140354110456,
+            -7.287588391620673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            27.831422872365813,
+            14.918140354110456,
+            -7.287588391620673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            30.42949908371913,
+            13.418140354110456,
+            -7.287588391620673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            33.027575295072445,
+            11.918140354110456,
+            -7.287588391620673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            35.62565150642576,
+            10.418140354110456,
+            -7.287588391620673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            38.22372771777908,
+            8.918140354110456,
+            -7.287588391620673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            40.82180392913239,
+            7.418140354110456,
+            -7.287588391620673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            43.41988014048571,
+            5.918140354110456,
+            -7.287588391620673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            46.017956351839025,
+            4.418140354110456,
+            -7.287588391620673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            48.61603256319234,
+            2.918140354110456,
+            -7.287588391620673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            51.21410877454566,
+            1.418140354110456,
+            -7.287588391620673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            53.81218498589897,
+            -0.08185964588954375,
+            -7.287588391620673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            56.41026119725229,
+            -1.5818596458895435,
+            -7.287588391620673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            59.008337408605605,
+            -3.0818596458895433,
+            -7.287588391620673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            61.60641361995892,
+            -4.581859645889543,
+            -7.287588391620673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            64.20448983131223,
+            -6.081859645889543,
+            -7.287588391620673
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            66.97270059585571,
+            -5.523125380277634,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-16-38_1047196295/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-16-38_1047196295/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7c9180cb362ac576830d2945e76b1dad69098d90
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-16-38_1047196295/pose.jsonl
@@ -0,0 +1,456 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            7.347651729012597,
+            356.0253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            9.945727940365913,
+            354.5253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            12.543804151719229,
+            353.0253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            15.141880363072545,
+            351.5253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            17.73995657442586,
+            350.0253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            20.338032785779177,
+            348.5253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            22.936108997132493,
+            347.0253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            25.53418520848581,
+            345.5253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            28.132261419839125,
+            344.0253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            30.73033763119244,
+            342.5253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            33.32841384254576,
+            341.0253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            35.92649005389907,
+            339.5253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            38.52456626525239,
+            338.0253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            41.122642476605705,
+            336.5253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            43.72071868795902,
+            335.0253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            46.31879489931234,
+            333.5253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            48.91687111066565,
+            332.0253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            51.51494732201897,
+            330.5253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            54.113023533372285,
+            329.0253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            56.7110997447256,
+            327.5253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            59.30917595607892,
+            326.0253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            61.90725216743223,
+            324.5253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            64.50532837878555,
+            323.0253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            67.10340459013887,
+            321.5253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            69.70148080149218,
+            320.0253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            72.2995570128455,
+            318.5253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            74.89763322419881,
+            317.0253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            77.49570943555213,
+            315.5253579422664,
+            -5.982658082908191
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            77.49570943555213,
+            315.5253579422664,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            78.99570943555213,
+            312.9272817309131,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            80.49570943555213,
+            310.32920551955976,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            81.99570943555213,
+            307.73112930820645,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            83.49570943555213,
+            305.13305309685313,
+            -5.982658082908191
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            84.99570943555213,
+            302.5349768854998,
+            -5.982658082908191
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            86.22871541976929,
+            301.40892124176025,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-16-55_763148569/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-16-55_763148569/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..08d15c8774a4cf336bf96624eb202ed899b83bd7
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-16-55_763148569/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -129.88900502724496,
+            53.87797778508226,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -128.38900502724496,
+            51.27990157372894,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -126.88900502724496,
+            48.681825362375626,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -125.38900502724496,
+            46.08374915102231,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -123.88900502724496,
+            43.485672939668994,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -122.38900502724496,
+            40.88759672831568,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -120.88900502724496,
+            38.28952051696236,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -119.38900502724496,
+            35.691444305609046,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -117.88900502724496,
+            33.09336809425573,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -116.38900502724496,
+            30.495291882902414,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -114.88900502724496,
+            27.897215671549098,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -113.38900502724496,
+            25.299139460195782,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -111.88900502724496,
+            22.701063248842466,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -110.38900502724496,
+            20.10298703748915,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -108.88900502724496,
+            17.504910826135834,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -107.38900502724496,
+            14.906834614782518,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -105.88900502724496,
+            12.308758403429202,
+            -13.731269594198501
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -105.88900502724496,
+            12.308758403429202,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -105.88900502724496,
+            9.308758403429202,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -105.88900502724496,
+            6.308758403429202,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -105.88900502724496,
+            3.308758403429202,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -105.88900502724496,
+            0.30875840342920213,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -105.88900502724496,
+            -2.691241596570798,
+            -13.731269594198501
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -105.88900502724496,
+            -5.691241596570798,
+            -13.731269594198501
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -103.74164056777954,
+            -6.204251378774643,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-17-32_1199680559/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-17-32_1199680559/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1dcaab52f112870fefb3e69f6fb8ecf3a70e5e75
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-17-32_1199680559/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -567.7136946017512,
+            207.46091997537053,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -565.1156183903979,
+            208.96091997537053,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -562.5175421790445,
+            210.46091997537053,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -559.9194659676912,
+            211.96091997537053,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -557.3213897563378,
+            213.46091997537053,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -554.7233135449844,
+            214.96091997537053,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -552.125237333631,
+            216.46091997537053,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -549.5271611222777,
+            217.96091997537053,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -546.9290849109243,
+            219.46091997537053,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -544.3310086995709,
+            220.96091997537053,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -541.7329324882176,
+            222.46091997537053,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -539.1348562768642,
+            223.96091997537053,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -536.5367800655108,
+            225.46091997537053,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -533.9387038541574,
+            226.96091997537053,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -531.3406276428041,
+            228.46091997537053,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -528.7425514314507,
+            229.96091997537053,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -526.1444752200973,
+            231.46091997537053,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -523.546399008744,
+            232.96091997537053,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -520.9483227973906,
+            234.46091997537053,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -518.3502465860372,
+            235.96091997537053,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -515.7521703746838,
+            237.46091997537053,
+            -3.8125958135387172
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -515.7521703746838,
+            237.46091997537053,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -514.2521703746838,
+            240.05899618672385,
+            -3.8125958135387172
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -512.7521703746838,
+            242.65707239807716,
+            -3.8125958135387172
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -511.4263668060303,
+            245.88372898101807,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-18-30_1538026652/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-18-30_1538026652/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..907dda657d11567288cff8e714202c1ec1994f45
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-18-30_1538026652/pose.jsonl
@@ -0,0 +1,313 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -171.05235611637616,
+            118.1342019699122,
+            -12.670087363762356
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -172.55235611637616,
+            120.73227818126551,
+            -12.670087363762356
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -174.05235611637616,
+            123.33035439261883,
+            -12.670087363762356
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -175.55235611637616,
+            125.92843060397215,
+            -12.670087363762356
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -177.05235611637616,
+            128.52650681532546,
+            -12.670087363762356
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -178.55235611637616,
+            131.12458302667878,
+            -12.670087363762356
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -180.05235611637616,
+            133.7226592380321,
+            -12.670087363762356
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -181.55235611637616,
+            136.3207354493854,
+            -12.670087363762356
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -183.05235611637616,
+            138.91881166073873,
+            -12.670087363762356
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -184.55235611637616,
+            141.51688787209204,
+            -12.670087363762356
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -186.05235611637616,
+            144.11496408344536,
+            -12.670087363762356
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -187.55235611637616,
+            146.71304029479867,
+            -12.670087363762356
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -189.05235611637616,
+            149.311116506152,
+            -12.670087363762356
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -189.05235611637616,
+            149.311116506152,
+            -12.670087363762356
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -189.05235611637616,
+            152.311116506152,
+            -12.670087363762356
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -189.05235611637616,
+            155.311116506152,
+            -12.670087363762356
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -189.05235611637616,
+            158.311116506152,
+            -12.670087363762356
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -189.05235611637616,
+            161.311116506152,
+            -12.670087363762356
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -189.05235611637616,
+            164.311116506152,
+            -12.670087363762356
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -189.05235611637616,
+            167.311116506152,
+            -12.670087363762356
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -189.05235611637616,
+            170.311116506152,
+            -12.670087363762356
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -189.05235611637616,
+            173.311116506152,
+            -12.670087363762356
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -189.05235611637616,
+            176.311116506152,
+            -12.670087363762356
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -189.65012454986572,
+            180.22162532806396,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-2-50_305564045/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-2-50_305564045/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7372a1db043abafae1f5267264a1bfde128b528f
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-2-50_305564045/pose.jsonl
@@ -0,0 +1,456 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -725.777522980092,
+            426.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -725.777522980092,
+            429.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -725.777522980092,
+            432.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -725.777522980092,
+            435.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -725.777522980092,
+            438.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -725.777522980092,
+            441.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -725.777522980092,
+            444.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -725.777522980092,
+            447.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -725.777522980092,
+            450.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -725.777522980092,
+            453.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -725.777522980092,
+            456.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -725.777522980092,
+            459.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -725.777522980092,
+            462.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -725.777522980092,
+            465.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -725.777522980092,
+            468.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -725.777522980092,
+            471.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -725.777522980092,
+            474.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -725.777522980092,
+            477.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -725.777522980092,
+            480.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -725.777522980092,
+            483.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -725.777522980092,
+            486.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -725.777522980092,
+            489.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -725.777522980092,
+            492.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -725.777522980092,
+            495.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -725.777522980092,
+            498.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -725.777522980092,
+            501.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -725.777522980092,
+            504.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -725.777522980092,
+            507.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -725.777522980092,
+            510.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -725.777522980092,
+            513.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -725.777522980092,
+            516.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -725.777522980092,
+            516.8828374267538,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -724.277522980092,
+            519.480913638107,
+            -1.8481677206915421
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -722.777522980092,
+            522.0789898494604,
+            -1.8481677206915421
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -720.8203277587891,
+            524.2329063415527,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-20-25_1805613091/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-20-25_1805613091/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..982157ab0108a396dc048694fd88f414fbf67965
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-20-25_1805613091/pose.jsonl
@@ -0,0 +1,404 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -481.4063113778748,
+            662.6966810160559,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -478.4063113778748,
+            662.6966810160559,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -475.4063113778748,
+            662.6966810160559,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -472.4063113778748,
+            662.6966810160559,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -469.4063113778748,
+            662.6966810160559,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -466.4063113778748,
+            662.6966810160559,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -463.4063113778748,
+            662.6966810160559,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -460.4063113778748,
+            662.6966810160559,
+            -0.44220621467354704
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -460.4063113778748,
+            662.6966810160559,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -457.80823516652146,
+            664.1966810160559,
+            -0.44220621467354704
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -457.80823516652146,
+            664.1966810160559,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -456.30823516652146,
+            666.7947572274093,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -454.80823516652146,
+            669.3928334387626,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -453.30823516652146,
+            671.990909650116,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -451.80823516652146,
+            674.5889858614694,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -450.30823516652146,
+            677.1870620728228,
+            -0.44220621467354704
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -450.30823516652146,
+            677.1870620728228,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -447.71015895516814,
+            678.6870620728228,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -445.1120827438148,
+            680.1870620728228,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -442.5140065324615,
+            681.6870620728228,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -439.9159303211082,
+            683.1870620728228,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -437.3178541097549,
+            684.6870620728228,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -434.71977789840156,
+            686.1870620728228,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -432.12170168704824,
+            687.6870620728228,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -429.5236254756949,
+            689.1870620728228,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -426.9255492643416,
+            690.6870620728228,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -424.3274730529883,
+            692.1870620728228,
+            -0.44220621467354704
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -424.3274730529883,
+            692.1870620728228,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -421.3274730529883,
+            692.1870620728228,
+            -0.44220621467354704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -418.3274730529883,
+            692.1870620728228,
+            -0.44220621467354704
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -414.4473571777344,
+            692.0035209655762,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-20-44_144874089/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-20-44_144874089/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2f6dde6ef9ee9e3346d55a07739ebc95125ff52a
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-20-44_144874089/pose.jsonl
@@ -0,0 +1,430 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -552.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -555.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -558.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -561.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -564.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -567.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -570.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -573.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -576.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -579.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -582.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -585.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -588.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -591.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -594.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -597.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -600.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -603.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -606.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -609.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -612.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -615.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -618.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -621.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -624.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -627.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -630.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -630.3041740149497,
+            172.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -632.9022502263031,
+            171.12603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -635.5003264376564,
+            169.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -638.0984026490098,
+            168.12603632985946,
+            -9.432341911831767
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -640.6964788603632,
+            166.62603632985946,
+            -9.432341911831767
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -641.9892883300781,
+            165.3961944580078,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-23-25_636453333/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-23-25_636453333/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..392cd0227a0505a22126cd9c709ff7293b6fc7b7
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-23-25_636453333/pose.jsonl
@@ -0,0 +1,443 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -625.9294814112716,
+            222.01323609827517,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -628.527557622625,
+            223.51323609827517,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -631.1256338339783,
+            225.01323609827517,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -633.7237100453317,
+            226.51323609827517,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -636.3217862566851,
+            228.01323609827517,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -638.9198624680384,
+            229.51323609827517,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -641.5179386793918,
+            231.01323609827517,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -644.1160148907452,
+            232.51323609827517,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -646.7140911020986,
+            234.01323609827517,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -649.3121673134519,
+            235.51323609827517,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -651.9102435248053,
+            237.01323609827517,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -654.5083197361587,
+            238.51323609827517,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -657.106395947512,
+            240.01323609827517,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -659.7044721588654,
+            241.51323609827517,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -662.3025483702188,
+            243.01323609827517,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -664.9006245815722,
+            244.51323609827517,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -667.4987007929255,
+            246.01323609827517,
+            -5.550135062913
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -667.4987007929255,
+            246.01323609827517,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -668.9987007929255,
+            248.6113123096285,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -670.4987007929255,
+            251.2093885209818,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -671.9987007929255,
+            253.80746473233512,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -673.4987007929255,
+            256.40554094368844,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -674.9987007929255,
+            259.00361715504175,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -676.4987007929255,
+            261.60169336639507,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -677.9987007929255,
+            264.1997695777484,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -679.4987007929255,
+            266.7978457891017,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -680.9987007929255,
+            269.395922000455,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -682.4987007929255,
+            271.99399821180833,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -683.9987007929255,
+            274.59207442316165,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -685.4987007929255,
+            277.19015063451496,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -686.9987007929255,
+            279.7882268458683,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -688.4987007929255,
+            282.3863030572216,
+            -5.550135062913
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -689.9987007929255,
+            284.9843792685749,
+            -5.550135062913
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -692.2501678466797,
+            284.9963035583496,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-23-44_363304213/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-23-44_363304213/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..692a5bdd922e855eb79bbec64880ae286bee564e
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-23-44_363304213/pose.jsonl
@@ -0,0 +1,391 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -639.8998811368239,
+            875.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -639.8998811368239,
+            872.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -639.8998811368239,
+            869.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -639.8998811368239,
+            866.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -639.8998811368239,
+            863.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -639.8998811368239,
+            860.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -639.8998811368239,
+            857.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -639.8998811368239,
+            854.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -639.8998811368239,
+            851.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -639.8998811368239,
+            848.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -639.8998811368239,
+            845.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -639.8998811368239,
+            842.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -639.8998811368239,
+            839.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -639.8998811368239,
+            836.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -639.8998811368239,
+            833.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -639.8998811368239,
+            830.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -639.8998811368239,
+            827.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -639.8998811368239,
+            824.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -639.8998811368239,
+            821.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -639.8998811368239,
+            818.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -639.8998811368239,
+            815.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -639.8998811368239,
+            812.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -639.8998811368239,
+            809.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -639.8998811368239,
+            806.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -639.8998811368239,
+            803.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -639.8998811368239,
+            800.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -639.8998811368239,
+            797.096612110937,
+            -3.24373398206264
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -639.8998811368239,
+            797.096612110937,
+            -3.24373398206264
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -638.3998811368239,
+            794.4985358995837,
+            -3.24373398206264
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -636.3482284545898,
+            792.3813362121582,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-23-59_79065186/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-23-59_79065186/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5cc080a57e3358f844a1077250c7b5015cdc0cac
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-23-59_79065186/pose.jsonl
@@ -0,0 +1,443 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -260.75969261798343,
+            575.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -260.75969261798343,
+            578.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -260.75969261798343,
+            581.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -260.75969261798343,
+            584.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -260.75969261798343,
+            587.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -260.75969261798343,
+            590.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -260.75969261798343,
+            593.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -260.75969261798343,
+            596.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -260.75969261798343,
+            599.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -260.75969261798343,
+            602.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -260.75969261798343,
+            605.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -260.75969261798343,
+            608.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -260.75969261798343,
+            611.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -260.75969261798343,
+            614.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -260.75969261798343,
+            617.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -260.75969261798343,
+            620.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -260.75969261798343,
+            623.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -260.75969261798343,
+            626.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -260.75969261798343,
+            629.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -260.75969261798343,
+            632.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -260.75969261798343,
+            635.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -260.75969261798343,
+            638.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -260.75969261798343,
+            638.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -260.75969261798343,
+            638.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -263.35776882933675,
+            640.1827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -265.95584504069006,
+            641.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -268.5539212520434,
+            643.1827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -271.1519974633967,
+            644.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -273.75007367475,
+            646.1827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -276.34814988610333,
+            647.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -276.34814988610333,
+            647.6827229096707,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -277.84814988610333,
+            650.2807991210241,
+            -11.539622765004232
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -279.34814988610333,
+            652.8788753323774,
+            -11.539622765004232
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -280.3515796661377,
+            656.0998382568359,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-25-42_1155465115/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-25-42_1155465115/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1caccb31271ba506cb7bb230ea9034f6c44e5f11
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-25-42_1155465115/pose.jsonl
@@ -0,0 +1,391 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -684.558967294176,
+            533.679978208052,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -684.558967294176,
+            530.679978208052,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -684.558967294176,
+            527.679978208052,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -684.558967294176,
+            524.679978208052,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -684.558967294176,
+            521.679978208052,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -684.558967294176,
+            518.679978208052,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -684.558967294176,
+            515.679978208052,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -684.558967294176,
+            512.679978208052,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -684.558967294176,
+            509.67997820805203,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -684.558967294176,
+            506.67997820805203,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -684.558967294176,
+            503.67997820805203,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -684.558967294176,
+            500.67997820805203,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -684.558967294176,
+            497.67997820805203,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -684.558967294176,
+            494.67997820805203,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -684.558967294176,
+            491.67997820805203,
+            -10.172562782643023
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -684.558967294176,
+            491.67997820805203,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -686.058967294176,
+            489.0819019966987,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -687.558967294176,
+            486.4838257853454,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -689.058967294176,
+            483.8857495739921,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -690.558967294176,
+            481.28767336263877,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -692.058967294176,
+            478.68959715128545,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -693.558967294176,
+            476.09152093993214,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -695.058967294176,
+            473.4934447285788,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -696.558967294176,
+            470.8953685172255,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -698.058967294176,
+            468.2972923058722,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -699.558967294176,
+            465.6992160945189,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -701.058967294176,
+            463.10113988316556,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -702.558967294176,
+            460.50306367181224,
+            -10.172562782643023
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -704.058967294176,
+            457.9049874604589,
+            -10.172562782643023
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -705.5029983520508,
+            454.1358337402344,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-26-17_1389079342/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-26-17_1389079342/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0f276c3e4176fa76ebc48b7ee08ce5a975bf3261
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-26-17_1389079342/pose.jsonl
@@ -0,0 +1,417 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -279.40945117734736,
+            612.5815224418659,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -280.90945117734736,
+            615.1795986532193,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -282.40945117734736,
+            617.7776748645726,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -283.90945117734736,
+            620.375751075926,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -285.40945117734736,
+            622.9738272872794,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -286.90945117734736,
+            625.5719034986328,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -288.40945117734736,
+            628.1699797099861,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -289.90945117734736,
+            630.7680559213395,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -291.40945117734736,
+            633.3661321326929,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -292.90945117734736,
+            635.9642083440463,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -294.40945117734736,
+            638.5622845553996,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -295.90945117734736,
+            641.160360766753,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -297.40945117734736,
+            643.7584369781064,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -298.90945117734736,
+            646.3565131894597,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -300.40945117734736,
+            648.9545894008131,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -301.90945117734736,
+            651.5526656121665,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -303.40945117734736,
+            654.1507418235199,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -304.90945117734736,
+            656.7488180348732,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -306.40945117734736,
+            659.3468942462266,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -307.90945117734736,
+            661.94497045758,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -309.40945117734736,
+            664.5430466689334,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -310.90945117734736,
+            667.1411228802867,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -312.40945117734736,
+            669.7391990916401,
+            -15.352215535628893
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -312.40945117734736,
+            669.7391990916401,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -315.0075273887007,
+            671.2391990916401,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -317.605603600054,
+            672.7391990916401,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -320.2036798114073,
+            674.2391990916401,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -322.8017560227606,
+            675.7391990916401,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -325.39983223411394,
+            677.2391990916401,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -327.99790844546726,
+            678.7391990916401,
+            -15.352215535628893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -330.5959846568206,
+            680.2391990916401,
+            -15.352215535628893
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -332.9628162384033,
+            682.8938217163086,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-27-16_4744263/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-27-16_4744263/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2c836404af9da5a8d832735ea75e7ef1825f6b1c
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-27-16_4744263/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -326.4609997223358,
+            146.6449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -329.05907593368914,
+            148.1449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -331.65715214504246,
+            149.6449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -334.2552283563958,
+            151.1449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -336.8533045677491,
+            152.6449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -339.4513807791024,
+            154.1449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -342.0494569904557,
+            155.6449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -344.64753320180904,
+            157.1449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -347.24560941316236,
+            158.6449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -349.8436856245157,
+            160.1449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -352.441761835869,
+            161.6449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -355.0398380472223,
+            163.1449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -357.6379142585756,
+            164.6449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -360.23599046992894,
+            166.1449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -362.83406668128225,
+            167.6449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -365.43214289263557,
+            169.1449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -368.0302191039889,
+            170.6449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -370.6282953153422,
+            172.1449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -373.2263715266955,
+            173.6449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -375.82444773804883,
+            175.1449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -378.42252394940215,
+            176.6449850488347,
+            -7.093491507892573
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -378.42252394940215,
+            176.6449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -381.42252394940215,
+            176.6449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -384.42252394940215,
+            176.6449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -387.42252394940215,
+            176.6449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -390.42252394940215,
+            176.6449850488347,
+            -7.093491507892573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -393.42252394940215,
+            176.6449850488347,
+            -7.093491507892573
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -395.35422134399414,
+            176.95641708374023,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-27-37_1642663198/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-27-37_1642663198/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..228540aa35dc5d5832df4c74accc5e8d782ca0aa
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-27-37_1642663198/pose.jsonl
@@ -0,0 +1,443 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -333.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -336.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -339.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -342.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -345.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -348.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -351.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -354.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -357.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -360.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -363.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -366.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -369.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -372.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -375.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -378.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -381.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -384.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -387.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -390.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -393.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -396.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -399.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -402.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -405.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -408.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -408.18722115997457,
+            113.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -410.7852973713279,
+            114.97097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -413.3833735826812,
+            116.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -415.9814497940345,
+            117.97097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -418.57952600538783,
+            119.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -421.17760221674115,
+            120.97097165485742,
+            -0.5134125194021166
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -423.77567842809447,
+            122.47097165485742,
+            -0.5134125194021166
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -425.6671447753906,
+            120.61265325546265,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-27-53_1153263590/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-27-53_1153263590/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5499d260321f86e8671fa5ecc679c5c9bdc2e858
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-27-53_1153263590/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -461.25197304438854,
+            532.4440549557937,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -463.85004925574185,
+            530.9440549557937,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -466.44812546709517,
+            529.4440549557937,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -469.0462016784485,
+            527.9440549557937,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -471.6442778898018,
+            526.4440549557937,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -474.2423541011551,
+            524.9440549557937,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -476.84043031250843,
+            523.4440549557937,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -479.43850652386175,
+            521.9440549557937,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -482.03658273521506,
+            520.4440549557937,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -484.6346589465684,
+            518.9440549557937,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -487.2327351579217,
+            517.4440549557937,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -489.830811369275,
+            515.9440549557937,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -492.4288875806283,
+            514.4440549557937,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -495.02696379198164,
+            512.9440549557937,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -497.62504000333496,
+            511.4440549557937,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -500.2231162146883,
+            509.9440549557937,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -502.8211924260416,
+            508.4440549557937,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -505.4192686373949,
+            506.9440549557937,
+            -4.680723923789106
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -505.4192686373949,
+            506.9440549557937,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -506.9192686373949,
+            504.3459787444404,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -508.4192686373949,
+            501.7479025330871,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -509.9192686373949,
+            499.14982632173377,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -511.4192686373949,
+            496.55175011038045,
+            -4.680723923789106
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -512.9192686373949,
+            493.95367389902714,
+            -4.680723923789106
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -513.548921585083,
+            491.5803527832031,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-28-6_844169939/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-28-6_844169939/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2295bb1ebf9d1530629594d2cc7d5f32c30f9327
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-28-6_844169939/pose.jsonl
@@ -0,0 +1,417 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -281.24773161387697,
+            604.0672049209361,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -279.74773161387697,
+            601.4691287095827,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -278.24773161387697,
+            598.8710524982293,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -276.74773161387697,
+            596.272976286876,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -275.24773161387697,
+            593.6749000755226,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -273.74773161387697,
+            591.0768238641692,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -272.24773161387697,
+            588.4787476528159,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -270.74773161387697,
+            585.8806714414625,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -269.24773161387697,
+            583.2825952301091,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -267.74773161387697,
+            580.6845190187557,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -266.24773161387697,
+            578.0864428074024,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -264.74773161387697,
+            575.488366596049,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -263.24773161387697,
+            572.8902903846956,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -261.74773161387697,
+            570.2922141733422,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -260.24773161387697,
+            567.6941379619889,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -258.74773161387697,
+            565.0960617506355,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -257.24773161387697,
+            562.4979855392821,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -255.74773161387697,
+            559.8999093279288,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -254.24773161387697,
+            557.3018331165754,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -252.74773161387697,
+            554.703756905222,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -251.24773161387697,
+            552.1056806938686,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -249.74773161387697,
+            549.5076044825153,
+            -6.963591990742412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -249.74773161387697,
+            549.5076044825153,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -247.14965540252365,
+            548.0076044825153,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -244.55157919117033,
+            546.5076044825153,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -241.95350297981702,
+            545.0076044825153,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -239.3554267684637,
+            543.5076044825153,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -236.75735055711039,
+            542.0076044825153,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -234.15927434575707,
+            540.5076044825153,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -231.56119813440375,
+            539.0076044825153,
+            -6.963591990742412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -228.96312192305044,
+            537.5076044825153,
+            -6.963591990742412
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -228.39022827148438,
+            535.6035957336426,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-29-28_986478257/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-29-28_986478257/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9a6ada0650572ff23c5b85a4b4673e58f0114235
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-29-28_986478257/pose.jsonl
@@ -0,0 +1,469 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -474.71526014137635,
+            765.1477933974568,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -473.21526014137635,
+            762.5497171861034,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -471.71526014137635,
+            759.95164097475,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -470.21526014137635,
+            757.3535647633967,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -468.71526014137635,
+            754.7554885520433,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -467.21526014137635,
+            752.1574123406899,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -465.71526014137635,
+            749.5593361293365,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -464.21526014137635,
+            746.9612599179832,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -462.71526014137635,
+            744.3631837066298,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -461.21526014137635,
+            741.7651074952764,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -459.71526014137635,
+            739.167031283923,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -458.21526014137635,
+            736.5689550725697,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -456.71526014137635,
+            733.9708788612163,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -455.21526014137635,
+            731.3728026498629,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -453.71526014137635,
+            728.7747264385096,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -452.21526014137635,
+            726.1766502271562,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -450.71526014137635,
+            723.5785740158028,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -449.21526014137635,
+            720.9804978044494,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -447.71526014137635,
+            718.3824215930961,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -446.21526014137635,
+            715.7843453817427,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -444.71526014137635,
+            713.1862691703893,
+            -13.80035670313374
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -444.71526014137635,
+            713.1862691703893,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -442.11718393002303,
+            711.6862691703893,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -439.5191077186697,
+            710.1862691703893,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -436.9210315073164,
+            708.6862691703893,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -434.3229552959631,
+            707.1862691703893,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -431.72487908460977,
+            705.6862691703893,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -429.12680287325645,
+            704.1862691703893,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -426.52872666190314,
+            702.6862691703893,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -423.9306504505498,
+            701.1862691703893,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -421.3325742391965,
+            699.6862691703893,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -418.7344980278432,
+            698.1862691703893,
+            -13.80035670313374
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -418.7344980278432,
+            698.1862691703893,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -417.2344980278432,
+            695.588192959036,
+            -13.80035670313374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -415.7344980278432,
+            692.9901167476826,
+            -13.80035670313374
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -414.4473571777344,
+            692.0035209655762,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-3-25_1651574882/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-3-25_1651574882/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b64619adc2b2bd7b0d729d208be2bee49edd7e51
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-3-25_1651574882/pose.jsonl
@@ -0,0 +1,456 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -623.1804807318726,
+            710.2847753351076,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -624.6804807318726,
+            707.6866991237544,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -626.1804807318726,
+            705.088622912401,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -627.6804807318726,
+            702.4905467010476,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -629.1804807318726,
+            699.8924704896942,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -630.6804807318726,
+            697.2943942783409,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -632.1804807318726,
+            694.6963180669875,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -633.6804807318726,
+            692.0982418556341,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -635.1804807318726,
+            689.5001656442807,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -636.6804807318726,
+            686.9020894329274,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -638.1804807318726,
+            684.304013221574,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -639.6804807318726,
+            681.7059370102206,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -641.1804807318726,
+            679.1078607988673,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -642.6804807318726,
+            676.5097845875139,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -644.1804807318726,
+            673.9117083761605,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -645.6804807318726,
+            671.3136321648071,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -647.1804807318726,
+            668.7155559534538,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -648.6804807318726,
+            666.1174797421004,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -650.1804807318726,
+            663.519403530747,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -651.6804807318726,
+            660.9213273193936,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -653.1804807318726,
+            658.3232511080403,
+            -7.151399327268553
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -653.1804807318726,
+            658.3232511080403,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -655.778556943226,
+            656.8232511080403,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -658.3766331545794,
+            655.3232511080403,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -660.9747093659328,
+            653.8232511080403,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -663.5727855772861,
+            652.3232511080403,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -666.1708617886395,
+            650.8232511080403,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -668.7689379999929,
+            649.3232511080403,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -671.3670142113463,
+            647.8232511080403,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -673.9650904226996,
+            646.3232511080403,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -676.563166634053,
+            644.8232511080403,
+            -7.151399327268553
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -676.563166634053,
+            644.8232511080403,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -678.063166634053,
+            642.2251748966869,
+            -7.151399327268553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -679.563166634053,
+            639.6270986853335,
+            -7.151399327268553
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -679.9516716003418,
+            637.0020637512207,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-30-19_1650994571/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-30-19_1650994571/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d02de25adb0025b403d8e97ad28b2fe4206d3a72
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-30-19_1650994571/pose.jsonl
@@ -0,0 +1,404 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            150.90908416642046,
+            329.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            150.90908416642046,
+            332.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            150.90908416642046,
+            335.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            150.90908416642046,
+            338.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            150.90908416642046,
+            341.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            150.90908416642046,
+            344.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            150.90908416642046,
+            347.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            150.90908416642046,
+            350.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            150.90908416642046,
+            353.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            150.90908416642046,
+            356.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            150.90908416642046,
+            359.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            150.90908416642046,
+            362.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            150.90908416642046,
+            365.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            150.90908416642046,
+            368.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            150.90908416642046,
+            371.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            150.90908416642046,
+            374.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            150.90908416642046,
+            377.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            150.90908416642046,
+            380.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            150.90908416642046,
+            383.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            150.90908416642046,
+            386.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            150.90908416642046,
+            389.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            150.90908416642046,
+            392.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            150.90908416642046,
+            395.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            150.90908416642046,
+            398.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            150.90908416642046,
+            401.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            150.90908416642046,
+            401.39553458449205,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            149.40908416642046,
+            403.99361079584537,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            147.90908416642046,
+            406.5916870071987,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            146.40908416642046,
+            409.189763218552,
+            -6.101258520220636
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            144.90908416642046,
+            411.7878394299053,
+            -6.101258520220636
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            145.14392518997192,
+            413.20618629455566,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-32-9_1541417540/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-32-9_1541417540/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bcd94e3790a372989bc54ae6dec238fa90d57763
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-32-9_1541417540/pose.jsonl
@@ -0,0 +1,469 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -363.22893061288255,
+            614.9281598061635,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -360.22893061288255,
+            614.9281598061635,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -357.22893061288255,
+            614.9281598061635,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -354.22893061288255,
+            614.9281598061635,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -351.22893061288255,
+            614.9281598061635,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -348.22893061288255,
+            614.9281598061635,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -345.22893061288255,
+            614.9281598061635,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -342.22893061288255,
+            614.9281598061635,
+            -9.840019387373562
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -342.22893061288255,
+            614.9281598061635,
+            -9.840019387373562
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -342.22893061288255,
+            614.9281598061635,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -340.72893061288255,
+            617.5262360175168,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -339.22893061288255,
+            620.1243122288702,
+            -9.840019387373562
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -339.22893061288255,
+            620.1243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -336.63085440152923,
+            621.6243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -334.0327781901759,
+            623.1243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -331.4347019788226,
+            624.6243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -328.8366257674693,
+            626.1243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -326.23854955611597,
+            627.6243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -323.64047334476265,
+            629.1243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -321.04239713340934,
+            630.6243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -318.444320922056,
+            632.1243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -315.8462447107027,
+            633.6243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -313.2481684993494,
+            635.1243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -310.6500922879961,
+            636.6243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -308.05201607664276,
+            638.1243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -305.45393986528944,
+            639.6243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -302.8558636539361,
+            641.1243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -300.2577874425828,
+            642.6243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -297.6597112312295,
+            644.1243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -295.0616350198762,
+            645.6243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -292.46355880852286,
+            647.1243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -289.86548259716955,
+            648.6243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -287.26740638581623,
+            650.1243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -284.6693301744629,
+            651.6243122288702,
+            -9.840019387373562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -282.0712539631096,
+            653.1243122288702,
+            -9.840019387373562
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -280.3515796661377,
+            656.0998382568359,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-33-21_30387226/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-33-21_30387226/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bc35fd82d607b70d296e3aa6517d03198b30e3b2
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-33-21_30387226/pose.jsonl
@@ -0,0 +1,404 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -453.9074423392791,
+            675.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -453.9074423392791,
+            672.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -453.9074423392791,
+            669.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -453.9074423392791,
+            666.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -453.9074423392791,
+            663.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -453.9074423392791,
+            660.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -453.9074423392791,
+            657.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -453.9074423392791,
+            654.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -453.9074423392791,
+            651.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -453.9074423392791,
+            648.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -453.9074423392791,
+            645.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -453.9074423392791,
+            642.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -453.9074423392791,
+            639.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -453.9074423392791,
+            636.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -453.9074423392791,
+            633.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -453.9074423392791,
+            630.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -453.9074423392791,
+            627.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -453.9074423392791,
+            624.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -453.9074423392791,
+            621.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -453.9074423392791,
+            618.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -453.9074423392791,
+            615.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -453.9074423392791,
+            612.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -453.9074423392791,
+            609.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -453.9074423392791,
+            606.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -453.9074423392791,
+            603.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -453.9074423392791,
+            600.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -453.9074423392791,
+            600.8321731877301,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -455.4074423392791,
+            598.2340969763768,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -456.9074423392791,
+            595.6360207650234,
+            -1.3987637792808698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -458.4074423392791,
+            593.0379445536701,
+            -1.3987637792808698
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -459.1201229095459,
+            590.1524925231934,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-33-39_1608340634/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-33-39_1608340634/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dac59cd50245eccb49620c3a7a11b0bd225bfd22
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-33-39_1608340634/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -649.7214185224594,
+            421.73656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -646.7214185224594,
+            421.73656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -643.7214185224594,
+            421.73656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -640.7214185224594,
+            421.73656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -637.7214185224594,
+            421.73656457557433,
+            -14.093321046910539
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -637.7214185224594,
+            421.73656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -635.1233423111062,
+            420.23656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -632.5252660997528,
+            418.73656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -629.9271898883994,
+            417.23656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -627.329113677046,
+            415.73656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -624.7310374656927,
+            414.23656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -622.1329612543393,
+            412.73656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -619.5348850429859,
+            411.23656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -616.9368088316326,
+            409.73656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -614.3387326202792,
+            408.23656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -611.7406564089258,
+            406.73656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -609.1425801975724,
+            405.23656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -606.5445039862191,
+            403.73656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -603.9464277748657,
+            402.23656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -601.3483515635123,
+            400.73656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -598.750275352159,
+            399.23656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -596.1521991408056,
+            397.73656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -593.5541229294522,
+            396.23656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -590.9560467180988,
+            394.73656457557433,
+            -14.093321046910539
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -588.3579705067455,
+            393.23656457557433,
+            -14.093321046910539
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -585.7167987823486,
+            390.5620746612549,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-33-53_956134158/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-33-53_956134158/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..baec7ef72d570737c7287b69be179db08d5ce414
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-33-53_956134158/pose.jsonl
@@ -0,0 +1,456 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -241.78494739881856,
+            715.268302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -244.38302361017188,
+            713.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -246.9810998215252,
+            712.268302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -249.5791760328785,
+            710.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -252.17725224423182,
+            709.268302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -254.77532845558514,
+            707.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -257.3734046669384,
+            706.268302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914895
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -259.97148087829174,
+            704.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -262.56955708964506,
+            703.268302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -265.1676333009984,
+            701.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -267.7657095123517,
+            700.268302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -270.363785723705,
+            698.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -272.9618619350583,
+            697.268302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -275.55993814641164,
+            695.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -278.15801435776496,
+            694.268302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -280.75609056911827,
+            692.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -283.3541667804716,
+            691.268302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -285.9522429918249,
+            689.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -288.5503192031782,
+            688.268302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -291.14839541453154,
+            686.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -293.74647162588485,
+            685.268302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -296.34454783723817,
+            683.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -296.34454783723817,
+            683.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -299.34454783723817,
+            683.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -302.34454783723817,
+            683.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -305.34454783723817,
+            683.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -308.34454783723817,
+            683.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -311.34454783723817,
+            683.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -314.34454783723817,
+            683.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -317.34454783723817,
+            683.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -320.34454783723817,
+            683.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -323.34454783723817,
+            683.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -326.34454783723817,
+            683.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -329.34454783723817,
+            683.768302017546,
+            -2.1882964931852342
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -332.9628162384033,
+            682.8938217163086,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-34-14_1390865725/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-34-14_1390865725/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..77bbe882e9e037501a240cbdcd1f73d651e1f10c
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-34-14_1390865725/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -745.533487113028,
+            538.5537653145428,
+            -6.8482872733802616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -744.033487113028,
+            541.1518415258961,
+            -6.8482872733802616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -742.533487113028,
+            543.7499177372495,
+            -6.8482872733802616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -741.033487113028,
+            546.3479939486028,
+            -6.8482872733802616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -739.533487113028,
+            548.9460701599562,
+            -6.8482872733802616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -738.033487113028,
+            551.5441463713096,
+            -6.8482872733802616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -736.533487113028,
+            554.142222582663,
+            -6.8482872733802616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -735.033487113028,
+            556.7402987940163,
+            -6.8482872733802616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -733.533487113028,
+            559.3383750053697,
+            -6.8482872733802616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -732.033487113028,
+            561.9364512167231,
+            -6.8482872733802616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -730.533487113028,
+            564.5345274280764,
+            -6.8482872733802616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -729.033487113028,
+            567.1326036394298,
+            -6.8482872733802616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -727.533487113028,
+            569.7306798507832,
+            -6.8482872733802616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -726.033487113028,
+            572.3287560621366,
+            -6.8482872733802616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -724.533487113028,
+            574.9268322734899,
+            -6.8482872733802616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -723.033487113028,
+            577.5249084848433,
+            -6.8482872733802616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -721.533487113028,
+            580.1229846961967,
+            -6.8482872733802616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -720.033487113028,
+            582.72106090755,
+            -6.8482872733802616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -718.533487113028,
+            585.3191371189034,
+            -6.8482872733802616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -717.033487113028,
+            587.9172133302568,
+            -6.8482872733802616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -715.533487113028,
+            590.5152895416102,
+            -6.8482872733802616
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -714.033487113028,
+            593.1133657529635,
+            -6.8482872733802616
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -714.6658248901367,
+            595.2243003845215,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-34-27_65120356/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-34-27_65120356/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..43430cf94bb50277a79a0a5b7283141e5bff8c70
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-34-27_65120356/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -618.395332992924,
+            484.26249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -620.9934092042772,
+            485.76249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -623.5914854156306,
+            487.26249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -626.189561626984,
+            488.76249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -628.7876378383373,
+            490.26249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -631.3857140496907,
+            491.76249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -633.9837902610441,
+            493.26249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -636.5818664723975,
+            494.76249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -639.1799426837508,
+            496.26249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -641.7780188951042,
+            497.76249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -644.3760951064576,
+            499.26249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -646.9741713178109,
+            500.76249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -649.5722475291643,
+            502.26249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -652.1703237405177,
+            503.76249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -654.7683999518711,
+            505.26249951263327,
+            -4.1693016543189785
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -654.7683999518711,
+            505.26249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -657.7683999518711,
+            505.26249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -660.7683999518711,
+            505.26249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -663.7683999518711,
+            505.26249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -666.7683999518711,
+            505.26249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -669.7683999518711,
+            505.26249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -672.7683999518711,
+            505.26249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -675.7683999518711,
+            505.26249951263327,
+            -4.1693016543189785
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -678.7683999518711,
+            505.26249951263327,
+            -4.1693016543189785
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -679.8386764526367,
+            506.54336738586426,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-35-47_73673339/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-35-47_73673339/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..862ba3d6d3eea4e86b942278af861457df95206d
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-35-47_73673339/pose.jsonl
@@ -0,0 +1,404 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -502.2725387323858,
+            736.50578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -504.8706149437391,
+            735.00578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -507.4686911550924,
+            733.50578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -510.06676736644573,
+            732.00578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -512.664843577799,
+            730.50578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -515.2629197891524,
+            729.00578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -517.8609960005058,
+            727.50578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -520.4590722118592,
+            726.00578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -523.0571484232125,
+            724.50578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -525.6552246345659,
+            723.00578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -528.2533008459193,
+            721.50578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -530.8513770572727,
+            720.00578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -533.449453268626,
+            718.50578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -536.0475294799794,
+            717.00578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -538.6456056913328,
+            715.50578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -541.2436819026861,
+            714.00578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -543.8417581140395,
+            712.50578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -546.4398343253929,
+            711.00578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -549.0379105367463,
+            709.50578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -551.6359867480996,
+            708.00578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -554.234062959453,
+            706.50578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -556.8321391708064,
+            705.00578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -559.4302153821598,
+            703.50578596875,
+            -7.244860734473729
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -559.4302153821598,
+            703.50578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -562.4302153821598,
+            703.50578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -565.4302153821598,
+            703.50578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -568.4302153821598,
+            703.50578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -571.4302153821598,
+            703.50578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -574.4302153821598,
+            703.50578596875,
+            -7.244860734473729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -577.4302153821598,
+            703.50578596875,
+            -7.244860734473729
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -580.2850952148438,
+            702.423282623291,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-36-59_1701475883/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-36-59_1701475883/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3651d39689810706c0361793b880fccb7bcf3dc1
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-36-59_1701475883/pose.jsonl
@@ -0,0 +1,417 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -512.4410164150845,
+            647.0459357369866,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -513.9410164150845,
+            644.4478595256332,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -515.4410164150845,
+            641.8497833142799,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -516.9410164150845,
+            639.2517071029265,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -518.4410164150845,
+            636.6536308915731,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -519.9410164150845,
+            634.0555546802198,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -521.4410164150845,
+            631.4574784688664,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -522.9410164150845,
+            628.859402257513,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -524.4410164150845,
+            626.2613260461596,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -525.9410164150845,
+            623.6632498348063,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -527.4410164150845,
+            621.0651736234529,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -528.9410164150845,
+            618.4670974120995,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -530.4410164150845,
+            615.8690212007461,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -531.9410164150845,
+            613.2709449893928,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -533.4410164150845,
+            610.6728687780394,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -534.9410164150845,
+            608.074792566686,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -536.4410164150845,
+            605.4767163553327,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -537.9410164150845,
+            602.8786401439793,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -539.4410164150845,
+            600.2805639326259,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -540.9410164150845,
+            597.6824877212725,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -542.4410164150845,
+            595.0844115099192,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -543.9410164150845,
+            592.4863352985658,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -545.4410164150845,
+            589.8882590872124,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -546.9410164150845,
+            587.290182875859,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -548.4410164150845,
+            584.6921066645057,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -549.9410164150845,
+            582.0940304531523,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -551.4410164150845,
+            579.4959542417989,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -552.9410164150845,
+            576.8978780304456,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -554.4410164150845,
+            574.2998018190922,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -555.9410164150845,
+            571.7017256077388,
+            -7.850997606896684
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -557.4410164150845,
+            569.1036493963854,
+            -7.850997606896684
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -557.2856903076172,
+            565.8412857055664,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-37-22_78417603/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-37-22_78417603/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d492f30f020b7afcadee08f296940c50ff8688d8
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-37-22_78417603/pose.jsonl
@@ -0,0 +1,443 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -17.405936134820756,
+            607.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -17.405936134820756,
+            604.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -17.405936134820756,
+            601.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -17.405936134820756,
+            598.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -17.405936134820756,
+            595.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -17.405936134820756,
+            592.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -17.405936134820756,
+            589.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -17.405936134820756,
+            586.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -17.405936134820756,
+            583.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -17.405936134820756,
+            580.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -17.405936134820756,
+            577.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -17.405936134820756,
+            574.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -17.405936134820756,
+            571.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -17.405936134820756,
+            568.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -17.405936134820756,
+            565.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -17.405936134820756,
+            562.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -17.405936134820756,
+            559.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -17.405936134820756,
+            556.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -17.405936134820756,
+            553.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -17.405936134820756,
+            550.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -17.405936134820756,
+            547.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -17.405936134820756,
+            544.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -17.405936134820756,
+            541.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -17.405936134820756,
+            538.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -17.405936134820756,
+            535.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -17.405936134820756,
+            532.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -17.405936134820756,
+            529.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -17.405936134820756,
+            526.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -17.405936134820756,
+            526.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -17.405936134820756,
+            526.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -14.80785992346744,
+            524.9124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -12.209783712114124,
+            523.4124413818258,
+            -9.58195007328202
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -9.611707500760808,
+            521.9124413818258,
+            -9.58195007328202
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -8.497139185667038,
+            519.214334487915,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-37-38_1158747661/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-37-38_1158747661/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3dfad1ec42ac479c04a133406da841f96ed0c50a
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-37-38_1158747661/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -576.8516524809979,
+            785.4502739746256,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -578.3516524809979,
+            782.8521977632722,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -579.8516524809979,
+            780.2541215519188,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -581.3516524809979,
+            777.6560453405655,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -582.8516524809979,
+            775.0579691292121,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -584.3516524809979,
+            772.4598929178587,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -585.8516524809979,
+            769.8618167065054,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -587.3516524809979,
+            767.263740495152,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -588.8516524809979,
+            764.6656642837986,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -590.3516524809979,
+            762.0675880724452,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -591.8516524809979,
+            759.4695118610919,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -593.3516524809979,
+            756.8714356497385,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -594.8516524809979,
+            754.2733594383851,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -596.3516524809979,
+            751.6752832270317,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -597.8516524809979,
+            749.0772070156784,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -599.3516524809979,
+            746.479130804325,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -600.8516524809979,
+            743.8810545929716,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -602.3516524809979,
+            741.2829783816182,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -603.8516524809979,
+            738.6849021702649,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -605.3516524809979,
+            736.0868259589115,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -606.8516524809979,
+            733.4887497475581,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -608.3516524809979,
+            730.8906735362048,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -609.8516524809979,
+            728.2925973248514,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -611.3516524809979,
+            725.694521113498,
+            -1.8136100083251065
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -611.3516524809979,
+            725.694521113498,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -613.9497286923513,
+            724.194521113498,
+            -1.8136100083251065
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -616.5478049037047,
+            722.694521113498,
+            -1.8136100083251065
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -618.2195739746094,
+            720.5517921447754,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-38-49_44470216/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-38-49_44470216/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..21047a90ad04869099907647337a105a4c6d9970
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-38-49_44470216/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -789.5615927017004,
+            511.30424598291154,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -786.5615927017004,
+            511.30424598291154,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -783.5615927017004,
+            511.30424598291154,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -780.5615927017004,
+            511.30424598291154,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -777.5615927017004,
+            511.30424598291154,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -774.5615927017004,
+            511.30424598291154,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -771.5615927017004,
+            511.30424598291154,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -768.5615927017004,
+            511.30424598291154,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -765.5615927017004,
+            511.30424598291154,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -762.5615927017004,
+            511.30424598291154,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -759.5615927017004,
+            511.30424598291154,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -756.5615927017004,
+            511.30424598291154,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -753.5615927017004,
+            511.30424598291154,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -750.5615927017004,
+            511.30424598291154,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -747.5615927017004,
+            511.30424598291154,
+            -8.217072391309102
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -747.5615927017004,
+            511.30424598291154,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -744.963516490347,
+            512.8042459829115,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -742.3654402789937,
+            514.3042459829115,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -739.7673640676403,
+            515.8042459829115,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -737.1692878562869,
+            517.3042459829115,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -734.5712116449336,
+            518.8042459829115,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -731.9731354335802,
+            520.3042459829115,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -729.3750592222268,
+            521.8042459829115,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -726.7769830108734,
+            523.3042459829115,
+            -8.217072391309102
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -724.1789067995201,
+            524.8042459829115,
+            -8.217072391309102
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -720.8203277587891,
+            524.2329063415527,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-39-37_1209379174/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-39-37_1209379174/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0d4054ee49b01290ddbfbb3f59ee07f9ed3b0506
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-39-37_1209379174/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -489.3978565559049,
+            25.388232756466415,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -490.8978565559049,
+            27.98630896781973,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -492.3978565559049,
+            30.584385179173047,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -493.8978565559049,
+            33.18246139052636,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -495.3978565559049,
+            35.78053760187968,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -496.8978565559049,
+            38.378613813232995,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -498.3978565559049,
+            40.97669002458631,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -499.8978565559049,
+            43.57476623593963,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -501.3978565559049,
+            46.17284244729294,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -502.8978565559049,
+            48.77091865864626,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -504.3978565559049,
+            51.368994869999575,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -505.8978565559049,
+            53.96707108135289,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -507.3978565559049,
+            56.56514729270621,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -508.8978565559049,
+            59.16322350405952,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -510.3978565559049,
+            61.76129971541284,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -511.8978565559049,
+            64.35937592676615,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -513.3978565559049,
+            66.95745213811946,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -514.8978565559049,
+            69.55552834947278,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -516.3978565559049,
+            72.1536045608261,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -517.8978565559049,
+            74.75168077217941,
+            -5.290463966871798
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -517.8978565559049,
+            74.75168077217941,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -517.8978565559049,
+            77.75168077217941,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -517.8978565559049,
+            80.75168077217941,
+            -5.290463966871798
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -517.8978565559049,
+            83.75168077217941,
+            -5.290463966871798
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -519.9884490966797,
+            86.51605033874512,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-40-25_547407330/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-40-25_547407330/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e199744261a8ad9d26ebe1d9c6cae3f27bb6f82e
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-40-25_547407330/pose.jsonl
@@ -0,0 +1,430 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -450.56574337645486,
+            143.46878371734826,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -453.1638195878082,
+            141.96878371734826,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -455.7618957991615,
+            140.46878371734826,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -458.3599720105148,
+            138.96878371734826,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -460.9580482218681,
+            137.46878371734826,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -463.55612443322144,
+            135.96878371734826,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -466.15420064457476,
+            134.46878371734826,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -468.7522768559281,
+            132.96878371734826,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -471.3503530672814,
+            131.46878371734826,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -473.9484292786347,
+            129.96878371734826,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -476.546505489988,
+            128.46878371734826,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -479.14458170134134,
+            126.96878371734826,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -481.74265791269465,
+            125.46878371734826,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -484.34073412404797,
+            123.96878371734826,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -486.9388103354013,
+            122.46878371734826,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -489.5368865467546,
+            120.96878371734826,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -492.1349627581079,
+            119.46878371734826,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -494.73303896946123,
+            117.96878371734826,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -497.33111518081455,
+            116.46878371734826,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -499.92919139216787,
+            114.96878371734826,
+            -1.6089543184035833
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -499.92919139216787,
+            114.96878371734826,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -501.42919139216787,
+            112.37070750599494,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -502.92919139216787,
+            109.77263129464163,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -504.42919139216787,
+            107.17455508328831,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -505.92919139216787,
+            104.576478871935,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -507.42919139216787,
+            101.97840266058168,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -508.92919139216787,
+            99.38032644922836,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -510.42919139216787,
+            96.78225023787505,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -511.92919139216787,
+            94.18417402652173,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -513.4291913921678,
+            91.58609781516842,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -514.9291913921678,
+            88.9880216038151,
+            -1.6089543184035833
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -516.4291913921678,
+            86.38994539246178,
+            -1.6089543184035833
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -519.9884490966797,
+            86.51605033874512,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-41-38_1396342013/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-41-38_1396342013/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..de01b2016d34df3faac4d246b3326626121cd7e9
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-41-38_1396342013/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -672.1640632575832,
+            566.7098079781656,
+            -14.472997998109658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -674.7621394689365,
+            565.2098079781656,
+            -14.472997998109658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -677.3602156802899,
+            563.7098079781656,
+            -14.472997998109658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -679.9582918916433,
+            562.2098079781656,
+            -14.472997998109658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -682.5563681029967,
+            560.7098079781656,
+            -14.472997998109658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -685.15444431435,
+            559.2098079781656,
+            -14.472997998109658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -687.7525205257034,
+            557.7098079781656,
+            -14.472997998109658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -690.3505967370568,
+            556.2098079781656,
+            -14.472997998109658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -692.9486729484101,
+            554.7098079781656,
+            -14.472997998109658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -695.5467491597635,
+            553.2098079781656,
+            -14.472997998109658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -698.1448253711169,
+            551.7098079781656,
+            -14.472997998109658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -700.7429015824703,
+            550.2098079781656,
+            -14.472997998109658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -703.3409777938236,
+            548.7098079781656,
+            -14.472997998109658
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -703.3409777938236,
+            548.7098079781656,
+            -14.472997998109658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -704.8409777938236,
+            546.1117317668122,
+            -14.472997998109658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -706.3409777938236,
+            543.5136555554589,
+            -14.472997998109658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -707.8409777938236,
+            540.9155793441055,
+            -14.472997998109658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -709.3409777938236,
+            538.3175031327521,
+            -14.472997998109658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -710.8409777938236,
+            535.7194269213987,
+            -14.472997998109658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -712.3409777938236,
+            533.1213507100454,
+            -14.472997998109658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -713.8409777938236,
+            530.523274498692,
+            -14.472997998109658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -715.3409777938236,
+            527.9251982873386,
+            -14.472997998109658
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -715.3409777938236,
+            527.9251982873386,
+            -14.472997998109658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -717.939054005177,
+            526.4251982873386,
+            -14.472997998109658
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -720.8203277587891,
+            524.2329063415527,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-41-54_1518260757/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-41-54_1518260757/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..84b713914e84abd58173eff9791bcd4355b5102d
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-41-54_1518260757/pose.jsonl
@@ -0,0 +1,456 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -147.1890136595174,
+            590.3058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -149.78708987087072,
+            588.8058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -152.38516608222403,
+            587.3058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -154.98324229357735,
+            585.8058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -157.58131850493066,
+            584.3058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -160.17939471628398,
+            582.8058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -162.7774709276373,
+            581.3058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -165.3755471389906,
+            579.8058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -167.97362335034393,
+            578.3058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -170.57169956169724,
+            576.8058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -173.16977577305056,
+            575.3058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -175.76785198440388,
+            573.8058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -178.3659281957572,
+            572.3058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -180.9640044071105,
+            570.8058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -183.56208061846382,
+            569.3058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -186.16015682981714,
+            567.8058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -188.75823304117046,
+            566.3058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -191.35630925252377,
+            564.8058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -193.9543854638771,
+            563.3058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -196.5524616752304,
+            561.8058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -199.15053788658372,
+            560.3058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -201.74861409793704,
+            558.8058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -204.34669030929035,
+            557.3058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -206.94476652064367,
+            555.8058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -209.54284273199698,
+            554.3058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -212.1409189433503,
+            552.8058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -214.73899515470362,
+            551.3058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -217.33707136605693,
+            549.8058527776482,
+            -9.645503613746655
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -217.33707136605693,
+            549.8058527776482,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -218.83707136605693,
+            547.2077765662948,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -220.33707136605693,
+            544.6097003549414,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -221.83707136605693,
+            542.011624143588,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -223.33707136605693,
+            539.4135479322347,
+            -9.645503613746655
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -224.83707136605693,
+            536.8154717208813,
+            -9.645503613746655
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -228.39022827148438,
+            535.6035957336426,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-42-17_2003980519/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-42-17_2003980519/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..60784b85297ff5c646314de9eab669db4eaeece6
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-42-17_2003980519/pose.jsonl
@@ -0,0 +1,417 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -623.8700850110796,
+            481.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -626.4681612224329,
+            480.16076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -629.0662374337862,
+            478.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -631.6643136451396,
+            477.16076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -634.262389856493,
+            475.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -636.8604660678463,
+            474.16076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -639.4585422791997,
+            472.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -642.0566184905531,
+            471.16076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -644.6546947019065,
+            469.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -647.2527709132598,
+            468.16076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -649.8508471246132,
+            466.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -652.4489233359666,
+            465.16076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -655.04699954732,
+            463.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -657.6450757586733,
+            462.16076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -660.2431519700267,
+            460.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -662.8412281813801,
+            459.16076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -665.4393043927334,
+            457.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -668.0373806040868,
+            456.16076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -670.6354568154402,
+            454.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -670.6354568154402,
+            454.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -673.6354568154402,
+            454.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -676.6354568154402,
+            454.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -679.6354568154402,
+            454.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -682.6354568154402,
+            454.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -685.6354568154402,
+            454.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -688.6354568154402,
+            454.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -691.6354568154402,
+            454.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -694.6354568154402,
+            454.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -697.6354568154402,
+            454.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -700.6354568154402,
+            454.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -703.6354568154402,
+            454.66076000224774,
+            -14.528675880576401
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -705.5029983520508,
+            454.1358337402344,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-43-27_1069117832/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-43-27_1069117832/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..63d0f27038ca4a8dc8039caedd955f366dc23f8d
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-43-27_1069117832/pose.jsonl
@@ -0,0 +1,300 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -269.8954915508362,
+            519.150133653803,
+            -4.02664433276345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -271.3954915508362,
+            516.5520574424497,
+            -4.02664433276345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -272.8954915508362,
+            513.9539812310963,
+            -4.02664433276345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -274.3954915508362,
+            511.35590501974303,
+            -4.02664433276345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -275.8954915508362,
+            508.7578288083897,
+            -4.02664433276345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -277.3954915508362,
+            506.1597525970364,
+            -4.02664433276345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -278.8954915508362,
+            503.5616763856831,
+            -4.02664433276345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -280.3954915508362,
+            500.96360017432977,
+            -4.02664433276345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -281.8954915508362,
+            498.36552396297645,
+            -4.02664433276345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -283.3954915508362,
+            495.76744775162314,
+            -4.02664433276345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -284.8954915508362,
+            493.1693715402698,
+            -4.02664433276345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -286.3954915508362,
+            490.5712953289165,
+            -4.02664433276345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -287.8954915508362,
+            487.9732191175632,
+            -4.02664433276345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -289.3954915508362,
+            485.3751429062099,
+            -4.02664433276345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -290.8954915508362,
+            482.77706669485656,
+            -4.02664433276345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -292.3954915508362,
+            480.17899048350324,
+            -4.02664433276345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -293.8954915508362,
+            477.5809142721499,
+            -4.02664433276345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -293.8954915508362,
+            477.5809142721499,
+            -4.02664433276345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -296.4935677621895,
+            476.0809142721499,
+            -4.02664433276345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -299.09164397354283,
+            474.5809142721499,
+            -4.02664433276345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -301.68972018489615,
+            473.0809142721499,
+            -4.02664433276345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -304.28779639624946,
+            471.5809142721499,
+            -4.02664433276345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -306.0643539428711,
+            470.07677459716797,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-46-5_1848096107/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-46-5_1848096107/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..27af18f4518789c27af32254e1d0d0cd89b59964
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-46-5_1848096107/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -291.64880330450177,
+            550.1621017804841,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -290.14880330450177,
+            552.7601779918375,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -288.64880330450177,
+            555.3582542031909,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -287.14880330450177,
+            557.9563304145443,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -285.64880330450177,
+            560.5544066258976,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -284.14880330450177,
+            563.152482837251,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -282.64880330450177,
+            565.7505590486044,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -281.14880330450177,
+            568.3486352599577,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -279.64880330450177,
+            570.9467114713111,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -278.14880330450177,
+            573.5447876826645,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -276.64880330450177,
+            576.1428638940179,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -275.14880330450177,
+            578.7409401053712,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -273.64880330450177,
+            581.3390163167246,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -272.14880330450177,
+            583.937092528078,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -270.64880330450177,
+            586.5351687394314,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -269.14880330450177,
+            589.1332449507847,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -267.64880330450177,
+            591.7313211621381,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -266.14880330450177,
+            594.3293973734915,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -264.64880330450177,
+            596.9274735848448,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -263.14880330450177,
+            599.5255497961982,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -261.64880330450177,
+            602.1236260075516,
+            -5.718003372455733
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -261.64880330450177,
+            602.1236260075516,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -261.64880330450177,
+            605.1236260075516,
+            -5.718003372455733
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -261.64880330450177,
+            608.1236260075516,
+            -5.718003372455733
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -260.7199411392212,
+            609.1296615600586,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-5-22_1211721386/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-5-22_1211721386/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..227a4b4841a63f62689e0f89cec2256e0b8ee6a9
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-5-22_1211721386/pose.jsonl
@@ -0,0 +1,326 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -575.791971368607,
+            269.89319970992966,
+            -6.2706283767775055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -578.791971368607,
+            269.89319970992966,
+            -6.2706283767775055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -581.791971368607,
+            269.89319970992966,
+            -6.2706283767775055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -584.791971368607,
+            269.89319970992966,
+            -6.2706283767775055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -587.791971368607,
+            269.89319970992966,
+            -6.2706283767775055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -590.791971368607,
+            269.89319970992966,
+            -6.2706283767775055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -593.791971368607,
+            269.89319970992966,
+            -6.2706283767775055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -596.791971368607,
+            269.89319970992966,
+            -6.2706283767775055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -599.791971368607,
+            269.89319970992966,
+            -6.2706283767775055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -602.791971368607,
+            269.89319970992966,
+            -6.2706283767775055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -605.791971368607,
+            269.89319970992966,
+            -6.2706283767775055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -608.791971368607,
+            269.89319970992966,
+            -6.2706283767775055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -611.791971368607,
+            269.89319970992966,
+            -6.2706283767775055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -614.791971368607,
+            269.89319970992966,
+            -6.2706283767775055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -617.791971368607,
+            269.89319970992966,
+            -6.2706283767775055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -620.791971368607,
+            269.89319970992966,
+            -6.2706283767775055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -623.791971368607,
+            269.89319970992966,
+            -6.2706283767775055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -626.791971368607,
+            269.89319970992966,
+            -6.2706283767775055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -629.791971368607,
+            269.89319970992966,
+            -6.2706283767775055
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -629.791971368607,
+            269.89319970992966,
+            -6.2706283767775055
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -629.791971368607,
+            269.89319970992966,
+            -6.2706283767775055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -631.291971368607,
+            272.491275921283,
+            -6.2706283767775055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -632.791971368607,
+            275.0893521326363,
+            -6.2706283767775055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -634.291971368607,
+            277.6874283439896,
+            -6.2706283767775055
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -637.7749824523926,
+            276.4634304046631,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-6-21_1286966948/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-6-21_1286966948/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ff43db1d55a0678148a1275d35296a47d54651e3
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-6-21_1286966948/pose.jsonl
@@ -0,0 +1,365 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            261.5878556025951,
+            427.82787607883654,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            260.0878556025951,
+            425.2297998674832,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            258.5878556025951,
+            422.6317236561299,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            257.0878556025951,
+            420.0336474447766,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            255.58785560259508,
+            417.4355712334233,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            254.08785560259508,
+            414.83749502206996,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            252.58785560259508,
+            412.23941881071664,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            251.08785560259508,
+            409.6413425993633,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            249.58785560259508,
+            407.04326638801,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            248.08785560259508,
+            404.4451901766567,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            246.58785560259508,
+            401.8471139653034,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            245.08785560259508,
+            399.24903775395006,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            243.58785560259508,
+            396.65096154259675,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            242.08785560259508,
+            394.05288533124343,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            240.58785560259508,
+            391.4548091198901,
+            -5.910434662770253
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            240.58785560259508,
+            391.4548091198901,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            240.58785560259508,
+            388.4548091198901,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            240.58785560259508,
+            385.4548091198901,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            240.58785560259508,
+            382.4548091198901,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            240.58785560259508,
+            379.4548091198901,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            240.58785560259508,
+            376.4548091198901,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            240.58785560259508,
+            373.4548091198901,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            240.58785560259508,
+            370.4548091198901,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            240.58785560259508,
+            367.4548091198901,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            240.58785560259508,
+            364.4548091198901,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            240.58785560259508,
+            361.4548091198901,
+            -5.910434662770253
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            240.58785560259508,
+            358.4548091198901,
+            -5.910434662770253
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.78176975250244,
+            355.75264739990234,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-6-35_962764794/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-6-35_962764794/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d50885051f0c7262c7e094b75dabbc6a97fa51c0
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-6-35_962764794/pose.jsonl
@@ -0,0 +1,339 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            197.58652319190563,
+            373.75380432300796,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            194.9884469805523,
+            375.25380432300796,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            192.390370769199,
+            376.75380432300796,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            189.79229455784568,
+            378.25380432300796,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            187.19421834649236,
+            379.75380432300796,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            184.59614213513905,
+            381.25380432300796,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            181.99806592378573,
+            382.75380432300796,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            179.39998971243241,
+            384.25380432300796,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            176.8019135010791,
+            385.75380432300796,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            174.20383728972578,
+            387.25380432300796,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            171.60576107837247,
+            388.75380432300796,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            169.00768486701915,
+            390.25380432300796,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            166.40960865566583,
+            391.75380432300796,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            163.81153244431252,
+            393.25380432300796,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            161.2134562329592,
+            394.75380432300796,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            158.6153800216059,
+            396.25380432300796,
+            -4.627150716444124
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            158.6153800216059,
+            396.25380432300796,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            157.1153800216059,
+            398.85188053436127,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            155.6153800216059,
+            401.4499567457146,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            154.1153800216059,
+            404.0480329570679,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            152.6153800216059,
+            406.6461091684212,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            151.1153800216059,
+            409.24418537977454,
+            -4.627150716444124
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            151.1153800216059,
+            409.24418537977454,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            148.51730381025257,
+            410.74418537977454,
+            -4.627150716444124
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            145.91922759889925,
+            412.24418537977454,
+            -4.627150716444124
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            145.14392518997192,
+            413.20618629455566,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-7-33_338346092/pose.jsonl b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-7-33_338346092/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..79c032b7261daa852d9892c6763cec1afa8c949d
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/short/2025-1-3_5-7-33_338346092/pose.jsonl
@@ -0,0 +1,391 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -19.43023344077832,
+            588.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -19.43023344077832,
+            585.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -19.43023344077832,
+            582.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -19.43023344077832,
+            579.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -19.43023344077832,
+            576.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -19.43023344077832,
+            573.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -19.43023344077832,
+            570.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -19.43023344077832,
+            567.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -19.43023344077832,
+            564.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -19.43023344077832,
+            561.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -19.43023344077832,
+            558.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -19.43023344077832,
+            555.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -19.43023344077832,
+            552.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -19.43023344077832,
+            549.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -19.43023344077832,
+            546.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -19.43023344077832,
+            543.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -19.43023344077832,
+            540.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -19.43023344077832,
+            537.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -19.43023344077832,
+            534.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -19.43023344077832,
+            531.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -19.43023344077832,
+            528.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -19.43023344077832,
+            525.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -19.43023344077832,
+            522.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -19.43023344077832,
+            519.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -19.43023344077832,
+            516.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -19.43023344077832,
+            516.9990828318626,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -17.93023344077832,
+            514.4010066205092,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -16.43023344077832,
+            511.80293040915586,
+            -0.9584076375663457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -14.93023344077832,
+            509.20485419780255,
+            -0.9584076375663457
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -15.610147833824158,
+            506.38565254211426,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}